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The Study of Servo-Parameter Tuning Technique for 6-Axes Articulated Robot Manipulator in Consideration of Dynamic Characteristics  

Chung, W.J. (창원대학교 기계설계공학과)
Kim, H.G. (창원대학교 기계설계공학과 대학원)
Lee, C.M. (창원대학교 기계설계공학과)
Hong, D.S. (창원대학교 기계설계공학과)
Park, S.G. (창원대학교 전기공학과)
Seo, Y.G. (두산메카텍(주))
Lee, G.S. (엘피시스)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.16, no.5, 2007 , pp. 1-6 More about this Journal
Abstract
This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.
Keywords
Gain Tuning; Dynamic Signal Analyzer; Position Control Loop Tuning; Velocity Control Loop Tuning; Notch Filter Tuning;
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  • Reference
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