• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.744-747
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• 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.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2004년도 춘계학술발표대회 논문집
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• pp.139-142
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• 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.

• 한국항공우주학회지
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• 제32권3호
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• pp.30-36
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• 2004

장섬유 복합재료는 항공우주 구조물, 로봇 팔 등의 구조물에 광범위하게 적용되고 있으며, 복합재료의 비파괴 검사방법에 대한 연구는 구조의 안전성과 신뢰성을 향상시키기 위하여 매우 중요한 연구 분야로 대두되고 있다. 본 논문에서는 AE 선호의 특정주파수 성분을 추출할 수 있는 풍조회로를 가진 AE 신호 분석 장비를 설계, 제작하였다. 제작된 AE 신호 분석 장비에 충격이나 기계적 진동 등과 같은 외란을 가하였을 때 제작된 AE 신호 분석 장비의 잡음레벨은 상용 AE 신호 분석 장비의 잡음레벨보다 매우 낮은 값을 나타내었다. 또한 복합재료 시편의 정, 동적 인장시험 하에서 제작된 AE 분석 장비는 상용 장비와 통일한 수준의 복합재료 파손감지능력을 나타냄을 확인할 수 있었다.

• 한국생산제조학회지
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• 제23권3호
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• pp.318-324
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• 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.271-272
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• 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.

• 디지털산업정보학회논문지
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• 제5권4호
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• pp.127-137
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• 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.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1998년도 가을 학술발표회 논문집(I)
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• pp.111-116
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• 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.

• 한국공작기계학회논문집
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• 제16권5호
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• pp.1-6
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• 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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.846-851
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• 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.

• 한국소음진동공학회논문집
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• 제15권11호
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• pp.1232-1240
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• 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.