書誌事項
- タイトル別名
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- Wafer Industry Design Case Study of Target Trajectory for Reducing Trajectory Deviation of a Belt-Driven Articulated Robot
- ベルト クドウガタ タカンセツ ロボット ノ キドウ イツダツ オ テイゲン スル モクヒョウ キドウ ノ ウエハ サンギョウヨウ セッケイ ジレイ
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抄録
<p>This paper deals with high-speed and high-precision transfer control of silicon wafers by a belt-driven robot. We propose a target trajectory design while we only can change the trajectory due to the industry’s strict development limitations. The proposed trajectory design has a piecewise linear type velocity profile. Gradients of each segment in the piecewise profile, that is acceleration, are designed with a consideration of two factors: The effects of belt elasticity and kinematics between the amount of belt elongation and the amount of tracking error. To reduce the amount of tracking error effectively, we also propose a design indicator which combines the two factors for designing the profile. An experiment with the belt-driven type wafer transfer robot UTM-R3700F, currently in use in industry, illustrates that the proposed trajectory design with the proposed indicator reduces tracking error compared to the conventional trajectory design.</p>
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 36 (11), 392-399, 2023-11-15
一般社団法人 システム制御情報学会
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詳細情報 詳細情報について
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- CRID
- 1390580626907848832
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- HANDLE
- 10228/0002000615
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- NDL書誌ID
- 033168319
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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
- IRDB
- NDL
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- 抄録ライセンスフラグ
- 使用不可