• 제목/요약/키워드: $LabVIEW^{(R)}$

검색결과 62건 처리시간 0.051초

SolidWorks®와 LabVIEW®를 연동한 6축 수직 다관절 로봇의 게인 튜닝 연구 (Technique for Simulating Gain Tuning using SolidWorks® and LabVIEW® for a Six-Axis Articulated Robot)

  • 정창두;정원지;김만수
    • 한국생산제조학회지
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    • 제23권1호
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    • pp.75-82
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    • 2014

  • For accurate gain tuning of the lab-manufactured six-axis articulated robot RS2 with less noise, in this study, a program routine using dynamic signal analyzer, which is a realization of a controller design algorithm in the frequency domain, is programmed using LabVIEW$^{(R)}$. The contribution of this paper is the proposal of a simulation technique based on SolidWorks$^{(R)}$ and LabVIEW$^{(R)}$ for the gain tuning of a six-axis articulated robot. To realize the simulation, the LabVIEW$^{(R)}$ program used for experimental gain tuning is incorporated in to SolidWorks$^{(R)}$. A comparison shows that the results of simulation-based gain tuning and experimental gain tuning are almost the same within a 5% error bound. On the basis of the comparison, it can be suggested that the simulation-based technique for gain tuning can be applied instead of experimental gain tuning to a six-axis articulated robot by interlocking SolidWorks$^{(R)}$ and LabVIEW$^{(R)}$.

  • https://doi.org/10.7735/ksmte.2014.23.1.075 인용 PDF KSCI

$LabVIEW^{(R)}$ 기반 3축 스카라 로봇의 유한 저크 및 게인 동조를 이용한 최적 모션 제어 (Optimal Motion Control of 3-axis SCARA Robot Using a Finite Jerk and Gain Tuning Based on $LabVIEW^{(R)}$)

  • 김정현;정원지;김효곤;이기상
    • 한국공작기계학회논문집
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    • 제17권3호
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    • pp.40-46
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    • 2008

  • This paper presents the optimal motion control for 3-axis SCARA robot by using $LabVIEW^{(R)}$. Specifically, for optimal motion control of 3-axis SCARA robot, we study velocity profile based on finite jerk(the first derivative of acceleration) and optimal gain tunig based on frequency response method by using $LabVIEW^{(R)}$. The velocity optimization with finite jerk aims at generating the smooth velocity profile of robot. Velocity profile based on finite jerk is acquired and applied to 3-axis SCARA robot by using $LabVIEW^{(R)}$. DSA(Dynamic Signal Analyzer) for frequency response method is programed by using $LabVIEW^{(R)}$. We obtain the bode plot of transfer function about 3-axis SCARA robot by using DSA, and perform the gain tuning considering dynamic characteristic based on the bode plot. These experiments have shown that the proposed motion control can reduce vibration displacement and response error rate each 33.7% and 51.7% of 3-axis SCARA robot.

  • PDF KSCI