Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
권호 표지

Optimal Motion Control of 3-axis SCARA Robot Using a Finite Jerk and Gain Tuning Based on $LabVIEW^{(R)}$

$LabVIEW^{(R)}$ 기반 3축 스카라 로봇의 유한 저크 및 게인 동조를 이용한 최적 모션 제어

  • Published : 2008.06.15
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents the optimal motion control for 3-axis SCARA robot by using $LabVIEW^{(R)}$. 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 $LabVIEW^{(R)}$. 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 $LabVIEW^{(R)}$. DSA(Dynamic Signal Analyzer) for frequency response method is programed by using $LabVIEW^{(R)}$. 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.

Keywords

References

  1. Chung, W. J., 2007, "The study of Servo -Parameter Tuning Technique for 6-Axes Articulated Robot Manipulator in consideration of dynamic characteristics," Journal of the Korean Society of Machine Tool Engineers, Vol. 16, No. 5, pp. 1-6
  2. Zieler, J. G. and Nichols, J. G., 1942, "Optimum Setting for Automatic Controllers," Trans. ASME, Vol. 64, pp. 759-768
  3. Chung, W. J., 2006, "Acceleration Optimization of a High-speed LCD Transfer Crane Using Finite Jerk.," Journal of the Korean Society for Precision Engineering, Vol. 23, No. 3, pp. 110-117
  4. National Instruments, 2005, LabVIEW Fundamentals, Korea
  5. Fu, K. S., Gonzales, R. C., and Lee, C. S. G., 1987, ROBOTICS Control, Sensing, Vision, and Intelligence, Mac Graw Hill, Inc, New York
  6. Richard, C. D., 1992, Modern Control Systems, Addison-Wesley Publishing Company, Inc., Korea, pp. 305-354
  7. Bolton, W., 1999, Mechatronics, Addison Wesley Longman Limited, Korea, pp. 293-338
  8. National Instruments, 2005, Sound and Vibration Toolkit User Manual, Korea
  9. Ha, H. K., 1999, "On-line Gain Tuning of Indusrtrial Robot Ising MRAC," Journal of the Korean Society of Machine Tool Engineers, Vol. 8, No. 5, pp. 76-82
  10. Jeong, Y. C., 2001, "Controller Auto-tuning Scheme for Improving Feedback System Performance in Frequency Domain," Journal of the Korean Society of Machine Tool Engineers, Vol. 15, No. 3 pp. 26-30
  11. Jeong, S. H., 2006, "A Study on the Optical Element Alignment Automation using Multi-Axis Ultra Precision Stage," Journal of the Korean Society of Machine Tool Engineers, Vol. 15, No. 6, pp. 64-70