Improvement of the path accuracy of the 7th generation LCD glass transfer robot

Jae Chul Hwang; Kyung Seok Byun; Yong Won Choi; In Ho Lee; Dong Il Kim

doi:10.1117/12.664709

2 May 2006 Improvement of the path accuracy of the 7th generation LCD glass transfer robot

Jae Chul Hwang, Kyung Seok Byun, Yong Won Choi, In Ho Lee, Dong Il Kim

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423K (2006) https://doi.org/10.1117/12.664709
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

The 7G LTR (7th generation LCD Transfer Robot) is the robot that is capable of transport the 7th generation LCD glass (1870×2200mm). This paper described a specification and performance of the 7G-LTR. The robot needs precise path accuracy to improve stack efficiency of glass cassette which affects the productivity of LCD plant. This paper presented a method of improving the path accuracy by kinematic compensation for the static deflection. Firstly, the 7G-LTR and its requirements were introduced. Next, the robot arm's kinematic model including the static deflection and the complete kinematic analysis were presented. Finally, the method of improving the path accuracy was provided and its optimization problem was solved. Various tests have been conducted to demonstrate the validity and feasibility of the proposed method.

Citation Download Citation

Jae Chul Hwang, Kyung Seok Byun, Yong Won Choi, In Ho Lee, and Dong Il Kim "Improvement of the path accuracy of the 7th generation LCD glass transfer robot", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423K (2 May 2006); https://doi.org/10.1117/12.664709

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