Identification and control of flexible mode for beam type solar cell substrate transport robot

Author

Park, Cheong Hee ; Park, D.I.

Author_Institution

Dept. of Robot. & Mechatron., Korea Inst. of Machinery & Mater., Daejeon, South Korea

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

569

Lastpage

570

Abstract

Beam type solar cell substrate transport robots have flexible forks to load the substrates, and the vibration caused by the flexible mode becomes the barrier to reduce the tack time. In this study, the flexible modes of the forks are identified to design the input shaper which is widely applied to attenuate the vibration caused by flexible mode. The experimental results which compare the vibration between `with´ and `without´ input shaper is presented as well.

Keywords

beams (structures); electronics industry; flexible structures; industrial robots; materials handling; solar cells; substrates; vibration control; beam type solar cell substrate transport robot; flexible fork; flexible mode control; fork flexible mode identification; input shaper design; substrate loading; tack time; vibration attenuation; Laser beams; Measurement by laser beam; Photovoltaic cells; Robot sensing systems; Substrates; Vibrations; Beam Type Robot; Flexible Mode; Input Shaping; Solar Cell; Vibration attenuation;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4673-3111-1

Electronic_ISBN

978-1-4673-3110-4

Type

conf

DOI

10.1109/URAI.2012.6463080

Filename

6463080