ARTICLE INFO ABSTRACT Article history: Recent years have witnessed a growing demand for a wide variety of highperformance 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 ® . Then, robot transfer functions can be obtained experimentally using the frequency response method with the DSA program. Data from

more »

... he 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.