Technique for Simulating Gain Tuning using SolidWorks^®and LabVIEW^®for a Six-Axis Articulated Robot

摘要

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<TEX>$^{(R)}$</TEX>. The contribution of this paper is the proposal of a simulation technique based on SolidWorks<TEX>$^{(R)}$</TEX> and LabVIEW<TEX>$^{(R)}$</TEX> for the gain tuning of a six-axis articulated robot. To realize the simulation, the LabVIEW<TEX>$^{(R)}$</TEX> program used for experimental gain tuning is incorporated in to SolidWorks<TEX>$^{(R)}$</TEX>. 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<TEX>$^{(R)}$</TEX> and LabVIEW<TEX>$^{(R)}$</TEX>.