書誌事項
- タイトル別名
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- Application of Preshaping Control to a Semiconductor Wafer Transfer Robot and Experimental Verification
- ハンドウタイ ウェハ ハンソウ ロボット エ ノ Preshaping セイギョ ノ オウヨウ ト ジッケン ケンショウ
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抄録
In automated production of industrial products such as semiconductor wafers and liquid crystal panels, transfer robots are widely used for conveyance. Although high speed motion provides shorten cycle time residual vibration generally occurs. Thus, vibration control is needed to suppress the residual vibration. This paper presents an identification technique based on FFT and least-square approach and proposes to employ a preshaping approach to reduce the residual vibration. Firstly, we achieve good vibration suppression by applying this approach to angular velocity commands for the robot. However, using a preshaping approach in that way causes a change in the end-effector trajectory, which may result in collision of the semiconductor wafer with the processing equipment. For this reason, we apply the preshaping approach to end-effector velocity instead of joint angular velocity to maintain the original end effector trajectory, and then derive the angular velocity by using inverse kinematics. Hence, we can achieve cycle time reduction by vibration suppression under the exact tracking to the original trajectory.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 50 (4), 328-334, 2014
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390001204504215808
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- NII論文ID
- 130004855702
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- NII書誌ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 025466644
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可