Title :
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
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;
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
DOI :
10.1109/URAI.2012.6463080
