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정원지(W. J. Chung),김효곤(H. G. Kim),이춘만(C. M. Lee),홍대선(D. S. Hong),박승규(S. G. Park),서영교(Y. G. Seo),이기상(K. S Lee) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
This paper presents a new experimental Servo-Parameter tuning technique for a Multi-Axis Servo System, 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.
정원지(W. J. Chung),김효곤(H. G. Kim),이춘만(C. M. Lee),홍대선(D. S. Hong),박승규(S. G. Park),서영교(Y. G. Seo),이기상(K. S Lee) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
This paper presents a new experimental Servo-Parameter tuning technique for a Multi-Axis Servo System, 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.
동적 특성을 고려한 6축 로봇의 서보 파라미터 튜닝에 관한 연구
정원지(W. J. Chung),김효곤(H. G. Kim),이춘만(C. M. Lee),홍대선(D. S. Hong),박승규(S. G. Park),서영교(Y. G. Seo),이기상(G. S. Lee) 한국생산제조학회 2007 한국생산제조학회지 Vol.16 No.5
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.
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.
다축 서보 시스템의 Gain Tuning 에 관한 연구
정원지(W. J. Chung),김효곤(H. G. Kim),서영교(Y. G. Seo),이기상(K. S. Lee) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
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.
차봉진(B. J. Cha),조삼광(S. K. Cho),서영교(Y. G. Seo),정자헌(J. H. Jung),구자훈(J. H. Ku) 한국마린엔지니어링학회 2010 한국마린엔지니어링학회 학술대회 논문집 Vol.2010 No.4
새우조망조업에 따른 해저표층퇴적물 변화양상을 파악하기 위하여 총 6차에 걸쳐 5개 정점에서 채니기 (Grab)을 이용한 표층퇴적물을 채취하였다. 입도분석 결과 시기별에 따른 입도분포의 차이는 크게 나타나지 않으나 정점별 입도분포 양상은 새우조망 조업구역 안쪽(정점 2번)이 바깥쪽(정점 1번)에 비해 모래의 함유량이 시기별로 다소 높게 나타났으며 자갈 함유량은 총 6차에 걸쳐 다소 높게 나타났다. 이러한 현상은 새우조망에 의한 시기별 입도분포 차이에 의한 것인지 지속적인 연구를 통해 밝혀져야할 것으로 사료된다.
특이점 부근의 로봇운동을 효과적으로 제어하기 위한 새로운 방법 개발
정원지,최은재,홍대선,서영교,홍형표 한국공작기계학회 2002 한국생산제조학회지 Vol.11 No.6
This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.
정원지,김효곤,이춘만,홍대선,박승규,서영교,이기상 한국공작기계학회 2006 한국공작기계학회 추계학술대회논문집 Vol.2006 No.-
This paper presents a new experimental Servo-Parameter tuning technique for a Multi-Axis Servo System, 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.