Dynamic modeling of Glass Substrate Transfer Robot arm system by using 5-revolute joints manipulator modeling method

Minsu Jegal, Tae Hyun Kim, Seok Hyun Hong, Hyun Seok Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Due to the growth of the Flat Panel Display (FPD) industry and the Thin Film Solar-cell industry, high performance of Glass Substrate Transfer Robot(GTR) is required. For a precise handling of the glass substrate with high speed, it is very important to reduce meandering of the end of robot hand. Meandering along the path of the GTR can be affected by the deflection of vertical axis structure and elasticity of arm belts. Therefore in order to predict the meandering, dynamic modeling for GTR system with torsion of vertical axis structure and elasticity of arm belts is required. This paper proposes a modeling method for GTR system using 5-revolute joints. The GTR system is considered to be a 5-revolut joints and 5-link system, applying torque transmissiion model for each joint. The proposed model is compared with the actual path of the end of robot hand which was obtained by real-world experiment, in order to verify that the proposed GTR system is valid.

Original languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages684-687
Number of pages4
Publication statusPublished - 2012 Dec 1
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 2012 Oct 172012 Oct 21

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
CountryKorea, Republic of
CityJeju
Period12/10/1712/10/21

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Jegal, M., Kim, T. H., Hong, S. H., & Yang, H. S. (2012). Dynamic modeling of Glass Substrate Transfer Robot arm system by using 5-revolute joints manipulator modeling method. In ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems (pp. 684-687). [6393269] (International Conference on Control, Automation and Systems).