LabVIEW<SUP>Ⓡ</SUP> 기반 3축 스카라 로봇의 유한 저크 및 게인 동조를 이용한 최적 모션 제어

다국어 초록 (Multilingual Abstract)

This paper presents the optimal motion control for 3-axis SCARA robot by using LabVIEW<SUP>ⓡ</SUP>. Specifically, for optimal motion control of 3-axis SCARA robot, we study velocity profile based on finite jerk(the first derivative of acceleration) and optimal gain tunig based on frequency response method by using LabVIEW<SUP>ⓡ</SUP>. The velocity optimization with finite jerk aims at generating the smooth velocity profile of robot. Velocity profile based on finite jerk is acquired and applied to 3-axis SCARA robot by using LabVIEW®. DSA(Dynamic Signal Analyzer) for frequency response method is programed by using LabVIEW<SUP>ⓡ</SUP>. We obtain the bode plot of transfer function about 3-axis SCARA robot by using DSA, and perform the gain tuning considering dynamic characteristic based on the bode plot. These experiments have shown that the proposed motion control can reduce vibration displacement and response error rate each 33.7% and 51.7% of 3-axis SCARA robot.

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