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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.
김효곤(H. G. Kim),정원지(W. J. Chung),주지훈(J. H. Ju),조영덕(Y. D. Cho) 한국생산제조학회 2008 한국생산제조학회지 Vol.17 No.6
At present many research projects on high-speed spindles are being conducted. These projects require a measurement technique which includes heat expansion, vibration and displacement measurement according to angular velocity. This paper presents the development of a measurement system for high-speed spindle displacement. The measurement system is based on LabView<SUP>®</SUP> and features the following sensors: optical sensor which reacts to the position of a marker on the spindle and enables two Laser Displacement Sensors(LDS). These Laser Displacement Sensors send their data to a DAQ (Data Acquisition Device). It is important that the delay time caused by the response times of the sensors as well as the sampling rate of the DAQ is considered because the spindle revolves at very high speeds.