Browse > Article
http://dx.doi.org/10.7735/ksmte.2014.23.3.318

Gain Scheduling in a 6-Axis Articulated Robot Based on LabVIEWⓇ  

Kim, M.S. (School of Mechatronics, Changwon National University)
Chung, W.J. (School of Mechatronics, Changwon National University)
Kim, S.B. (School of Mechatronics, Changwon National University)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.23, no.3, 2014 , pp. 318-324 More about this Journal
Abstract
Recent years have witnessed a growing demand for a wide variety of high-performance industrial robots. In this paper, for accurate gain tuning of a 6-axis articulated industrial robot with reduced noise, a program routine for a dynamic signal analyzer (DSA) using the frequency response method will be programmed using $LabVIEW^{(R)}$. Then, robot transfer functions can be obtained experimentally using the frequency response method with the DSA program. Data from the robot transfer functions are transformed into Bode plots, based on which an optimal gain tuning will be executed. Gain tuning can enhance the response quality of the output signal for a given input signal during real-time control of the robot. The effectiveness of our proposed technique will be verified by implementation with a (lab-manufactured) 6-axis articulated industrial robot (hereinafter called "RS2") and comparison with the zero position gain tuning, as well as other positions.
Keywords
$LabVIEW^{(R)}$; PID(Proportional Integral Derivative) control; Gain scheduling; Gain tuning; Servo parameter; Dynamic signal analyzer;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Ogata, K., 1990, Modern Control Engineering, Prectice-Hall, New Jersey.
2 Haugen, F., 2004, PID control of dynamic systems, Intl specialized book service inc.
3 National Instruments., n.d., viewed 22 August 2013, NI-DAQmx Description
4 Lee, D. S., Chung, W. J., Jang, J. H., Kim, M. S., 2013, Implementation of $LabVIEW^{(R)}$-based Joint-Linear Motion Blending on a Labmanufactured 6-axis Articulated Robot(RS2) KSMTE 22:2 318-323.   DOI
5 Jung, C. D., Chung, W. J., Kim, M. S., 2014, Technique for Simulating Gain Tuning $SolidWorks^{(R)}$ and $LabVIEW^{(R)}$ for a Six-axis Articulated Robot, KSMTE 23:1 75-82.   과학기술학회마을   DOI   ScienceOn
6 Kim, H. K., 2007, A Study on Servo Gain Tuning Technique of a 6-Axes Articulated Robot Manipulator Considering Dynamic Characteristics, Master Thesis, Changwon National Univ., Republic of Korea.
7 Kim, J. H., 2008, A Study on Optimal Motion Control of $LabVIEW^{(R)}$-based 3-axis SCARA Robot, Master Thesis, Changwom National Univ., Republic of Korea.
8 An, J. S., Kim, S. M., Lee, S. K., 2011, Vibration Compensation due to Spindle Unbalance using An Electro Magnetic Exciter, KSPE 21 505-509.
9 Kuo, B. C., 1991, Automatic control systems, Prentice-Hall, New Jersey.