대형 LCD 유리 원판 반송용 로봇 제어

This paper resents methods of control for high performance of robots that handle large LCD glass substrates. The typical mechanical structure of the robot employs a double arm type to increase productivity. However, this large size double-armed robot suffered from a large static and dynamic deflection when extracting or retracting the arms, which must be reduced in order to satisfy the performance criteria. The vibration of the arms due to this low stiffness of the robot was reduced by various control methods, which includes from the lowest to the highest control levels of the controller, such as servo controls with filtering techniques and gain tuning, dynamics-based trajectory planning, robot teaching, and handling system faults, It was demonstrated that the performance criteria was satisfied by adopting the proposed control methods in spite of the insufficient stiffness of the mechanical structure of the robot.