• 한국생산제조학회지
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• 제23권1호
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• pp.75-82
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• 2014

For accurate gain tuning of the lab-manufactured six-axis articulated robot RS2 with less noise, in this study, a program routine using dynamic signal analyzer, which is a realization of a controller design algorithm in the frequency domain, is programmed using LabVIEW$^{(R)}$. The contribution of this paper is the proposal of a simulation technique based on SolidWorks$^{(R)}$ and LabVIEW$^{(R)}$ for the gain tuning of a six-axis articulated robot. To realize the simulation, the LabVIEW$^{(R)}$ program used for experimental gain tuning is incorporated in to SolidWorks$^{(R)}$. A comparison shows that the results of simulation-based gain tuning and experimental gain tuning are almost the same within a 5% error bound. On the basis of the comparison, it can be suggested that the simulation-based technique for gain tuning can be applied instead of experimental gain tuning to a six-axis articulated robot by interlocking SolidWorks$^{(R)}$ and LabVIEW$^{(R)}$.

• 한국공작기계학회논문집
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• 제17권3호
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• pp.40-46
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• 2008

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.

• Journal of electromagnetic engineering and science
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• 제12권1호
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• pp.85-93
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• 2012

We propose a new expression of the near-field gain correction to calculate the on-axis far-field gain from the onaxis near-field gain for a directive antenna. The new expression is represented by transversal vectorial transmitting characteristics of two antennas that are measured by planar near-field equipment. Due to the advantages of the photonic sensor, the utilization of the new expression realizes the measurements of the on-axis far-field gains for two kinds of double ridged waveguide horn antennas within 0.1 dB deviation from 1 GHz to 6 GHz without calibrating the photonic sensor system.

• 제어로봇시스템학회논문지
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• 제3권1호
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• pp.32-39
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• 1997

One of the most important performance criteria in tuning the gain of position loop controller for CNC machining center is the contour error. In this papre we analyze contour error in the linear and circular interpolations for the axis-matched and mismatched cases. To have small contour errors, it is necessary to set the P gain for each axis to be same. And the D gain should be much smaller than the P gain. Baded on the analysis in the frequency domain, we propose a gain tuning method for the P and PD controllers. We show that the PD controller is better than the P controller. The effectiveness of this method is demonstrated by experiments.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2008년도 International Meeting on Information Display
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• pp.1185-1188
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• 2008

The on-axis luminance gain as well as the viewing-angle characteristics of flat-lamp-based backlights have been analyzed for the first time. The on-axis luminance gain on each optical film in flat-lamp backlight was smaller than that obtained from the conventional tubular-lamp-based backlight. The origin of and possible solution to this problem were suggested.

• 한국생산제조학회지
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• 제23권3호
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• pp.318-324
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• 2014

Recent years have witnessed a growing demand for a wide variety of high-performance industrial robots. In this paper, for accurate gain tuning of a 6-axis articulated industrial robot with reduced noise, a program routine for a dynamic signal analyzer (DSA) using the frequency response method will be programmed using $LabVIEW^{(R)}$. Then, robot transfer functions can be obtained experimentally using the frequency response method with the DSA program. Data from the robot transfer functions are transformed into Bode plots, based on which an optimal gain tuning will be executed. Gain tuning can enhance the response quality of the output signal for a given input signal during real-time control of the robot. The effectiveness of our proposed technique will be verified by implementation with a (lab-manufactured) 6-axis articulated industrial robot (hereinafter called "RS2") and comparison with the zero position gain tuning, as well as other positions.

• 한국위성정보통신학회논문지
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• 제7권1호
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• pp.97-101
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• 2012

위성의 발사부터 임무 궤도 운용을 포함한 어떤 위성의 자세에서도 지상국과의 통신 링크 보장을 위해서는 TC&R (Telemetry, Command & Ranging)의 안테나는 반구 옴니 패턴을 가져야 한다. 전구 옴니 안테나 패턴을 제공하기 위해서는 위성의 +z 축 방향과 -z축 방향에 각각 반구 옴니 패턴을 갖는 안테나를 배치하게 된다. 본 연구에서는 반구 옴니 빔을 갖는 RHCP 및 LHCP 편파 Quadrifilar 헬릭스 안테나를 설계하고 안테나 이득 및 축비 요구 규격을 잘 만족함을 확인하였다. +z 축 방향과 -z축 방향에 안테나 편파 조합에 따른 합성된 옴니 안테나 전구 패턴의 특성을 분석하기 위해 +z 및 -z 축에 4가지 편파 배치안에 대해 합성 빔을 비교 분석하였다. 이 결과를 바탕으로 실제 위성 구조물에 +z축 및 -z축에 RHCP 및 LHCP S-대역 옴니 안테나를 각각 장착하고 위성 구조물에 의한 합성 이득 패턴을 얻고 링크에 대한 영향 분석을 수행하였다.

• 한국기계가공학회지
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• 제16권4호
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• pp.113-118
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• 2017

As the demand for industrial robots and Automated Guided Vehicles (AGVs) increases, higher performance is also required from them. Fuzzy controllers, as part of an intelligent control system, are a direct control method that leverages human knowledge and experience to easily control highly nonlinear, uncertain, and complex systems. This paper uses a $LabVIEW^{(R)}-based$ fuzzy controller with gain scheduling to demonstrate better performance than one could obtain with a fuzzy controller alone. First, the work area was set based on forward kinematics and inverse kinematics programs. Next, $LabVIEW^{(R)}$ was used to configure the fuzzy controller and perform the gain scheduling. Finally, the proposed fuzzy gain scheduling controller was compared with to controllers without gain scheduling.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.271-272
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• 2006

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.

• 한국공작기계학회논문집
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• 제12권3호
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• pp.17-24
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• 2003

One of the most important performance criteria related to the gain tuning of controller for CNC machining center is the contour error. This study analyzed circular error by the axis-matched and mismatched cases. To reduce ellipse and radius error, it is necessary to set the gain for each axis to be same bandwidth and high response. Based on the analysis in the frequency domain, we simulate feed system by mathematical model and then predict bandwidth of each axis. For analysis of structure vibration while the each axis is moving, we try the various of measuring method and position loop is improved by jerk limit.