Abstract
This paper presents our Auto Tuning System which is to tune up the control gains to optimal values for industrial robots. A perfomance index is well defined so that it can represent the dynamical features of real robots aptly. The system is not only practically useful by itself, but also sophisticated when considering the analytically optimal pole assignment of a controlled system. Once a factory worker sets it going, Auto Tuning System tunes the control gains over the all required configurations and joints of a robot arm. While its operating, workers are completely free of observation.
