• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.744-747
• /
• 2005

This research studied 6-Axes Articulated Robot Manipulator's gain Tuning in consideration of dynamic. First of all, search fur proportional gain of velocity control loop by dynamic signal analyzer. Proportional gain of velocity control loop is connected to dynamic signal analyzer. Next Select free Proportional Gain value. And Select amplitude X of sinusoidal properly so that enough Velocity Feedback Signal may be paid as there is no group to utensil department. Next step, We can get Bode Diagram of Closed loop transfer function response examination in interested frequency. Integral calculus for gain of velocity loop is depended on integral calculus correction's number. We can obtain open loop transfer function by integrator. And we can know bode diagram's special quality from calculated open loop transfer function. With this, Velocity Control Loop's Parameter as inner loop is controlled. Next In moving, when vibration occurs, it controls notch filter. And finally, we have to control fred-forward filter parameter for elevation of control performance.

• Proceedings of the Korean Society For Composite Materials Conference
• /
• 2004.04a
• /
• pp.139-142
• /
• 2004

As fiber reinforced composite materials are widely used in aircraft, space structures and robot arms, the study on the non-destructive testing methods of the composite materials has become an important research area for improving their reliability and safety. In this paper, the AE signal analyzer with the resonance circuit to extract the specified frequency of the acoustic emission signal were designed and fabricated. The noise levels of the fabricated AE signal analyzer by the disturbance such as impact or mechanical vibration had a very small value comparable to those of the conventional AE signal analyzer. Also, the crack detection capabilities of the fabricated AE signal analyzer under the static and dynamic tensile test were evaluated and compared with the conventional AE signal analyzer.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.32 no.3
• /
• pp.30-36
• /
• 2004

As fiber reinforced composite materials are widely used in aircraft, space structures and robot arms, the study on the non-destructive testing methods of the composite materials has become an important research area for improving their reliability and safety. In this paper, the AE signal analyzer with the resonance circuit to extract the specified frequency of the acoustic emission signal were designed and fabricated. The noise levels of the fabricated AE signal analyzer by the disturbance such as impact or mechanical vibration had a very small value comparable to those of the conventional AE signal analyzer. Also, the fabricated AE signal analyzer was proved to have about the same crack detection capabilities with the conventional AE signal analyzer under the static and dynamic tensile tests of the composite materials.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.23 no.3
• /
• pp.318-324
• /
• 2014

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.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.271-272
• /
• 2006

This paper presented a new experimental gain tuning technique for a Multi-Axis Servo System. First, the investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer (DSA) was performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function was 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 has been obtained by using the Bode plot of the closed loop transfer function. We have also proposed the technique to find out an optimal parameter of a notch filter, which has a great influence on vibration reduction, by using the damping factor extracted from the Bode plot of closed loop transfer function.

• Journal of Korea Society of Digital Industry and Information Management
• /
• v.5 no.4
• /
• pp.127-137
• /
• 2009

This paper is proposed that in-output Digital module is acquired a vibration signal of a rotating machinery by Data Acquisition System. The module is designed to get ride of nose through low pass filter on the vibration signal from sensors and set the gain value for being able to sampling AC to DC, and also the sampled data by sampler and the conversed data by DIP/FPGA is supplied to the analyzer for analysis at a software tool. The DIP(Digital Signal Processor) of the Digital input/output Board makes Average voltage, Peak to Peak voltage, RMS(Root Mean Square) and Gap voltage, also FFT(Fast Fourier Transform) for rotating vibration diagnosis.

• Proceedings of the Korea Concrete Institute Conference
• /
• 1998.10c
• /
• pp.111-116
• /
• 1998

Most previous wave tests for concrete have been done to evaluate static material properties, and thus there are less works to investigate dynamic material characteristics of concrete, which should be few in Korea. The objective of this experimental work is to investigate dynamic material characteristics of concrete, such as dynamic elastic modulus, dynamic shear modulus, first resonant frequency, dynamic poisson's ratio and etc. A dynamic Signal Analyzer has been used to perform the wave analysis for various dynamic material properties of test specimen. First Fourier transform technique has been carried out on various wave data acquired by the Resonant Column method, which is a kind of nondestructive tests. Wave analysis has been performed based on KS F2437, which is similar to ASTM C607-71 and is identical to JIS A 1127-1976.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.5
• /
• pp.1-6
• /
• 2007

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.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2005.05a
• /
• pp.846-851
• /
• 2005

The purpose of this paper is that investigates the dynamic behavior characteristic of W.T.S(Wind turbine System) and carries out the evaluation analysis during operating W.T.S. To investigate the dynamic behavior characteristic of W.T.S, the experiments to measure vibration of the blade from the attached accelerometer on the flap and edge section of the blade that is one of the most important elements of dynamic characteristic of W.T.S are performed. Natural frequency and mode shape are calculated with commercial program (ANSYS) using the measured vibration acceleration that receives the signal with F.F.T Analyzer from the accelerometer. For validation of these experiments, the finite element analysis is performed with commercial F.E.M program (ANSYS) on the basis of the natural frequency and mode shape. The results indicate that experimental values have good agreements with the finite element analysis.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.15 no.11 s.104
• /
• pp.1232-1240
• /
• 2005

The purpose of this paper is that investigates the dynamic behavior characteristic of W.T.S (wind turbine system) and carries out the evaluation analysis during operating W.T.S. To investigate the dynamic behavior characteristic of W.T.S, the experiments to measure vibration of the blade from the attached accelerometer on the flap and edge section of the blade that is one of the most important elements of dynamic characteristic of W.T.S are performed. Natural frequency and mode shape are calculated with commercial program ( ANSYS) using the measured vibration acceleration that receives the signal with F.F.T Analyzer from the accelerometer For validation of these experiments, the finite element analysis is performed with commercial F.E.M program (ANSYS) on the basis of the natural frequency and mode shape. The results indicate that experimental values have good agreements with the finite element analysis.