제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제15권9호
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  • Pages.887-893
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  • 2009
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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여유 구동 병렬기구를 이용한 마스크-패널 얼라인 로붓 시스템

Mask-Panel Alignment Robot System Using a Parallel Mechanism with Actuation Redundancy

  • 정해민 (STX 조선해양연구소) ;
  • 권상주 (한국항공대학교 항공우주기계공학부) ;
  • 이상무 (한국생산기술연구원 로봇기술연구부)
  • 발행 : 2009.09.01
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초록

In this paper, a mask-panel alignment robot system is considered for IT industry applications. Two kinds of solutions are suggested which are required in constructing a control system for the alignment robot with actuation redundancy. First, the kinematic solution for the 4PPR parallel positioning mechanism is formulated for an arbitrary initial posture, which relates the mask-panel misalignment in the task space and the desired actuator displacements in the joint space. Secondly, in order to increase the stiffness of the control motion and also to avoid the mechanical lock which may happen due to the redundant actuation, a new synchronous control method is proposed which has the merit of coordinating joint control motions while not losing individual joint control performance. In addition, the engineering process to develop a visual alignment robot system is described with the results of experimental setup and GUI software. Finally, the experimental results demonstrate the effectiveness of the proposed alignment system control methodology and how much beneficial it will be in real industrial applications.

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참고문헌

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