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수직 다관절 로봇의 동적 특성을 고려한 Gain Tuning 연구
김효곤(W. J. Chung),정원지(H. G. Kim),김기정(K. J. Kim),김규탁(K. T. Kim),서영교(Y. G. Seo),이기상(K. S.Lee) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
This research studied 6-Axes Articulated Robot Manipulator’s gain Tuning in consideration of dynamic. First of all, search for 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 feed-forward filter parameter for elevation of control performance.