Combined S-curve feedrate profiling and input shaping for glass substrate transfer robot vibration suppression
ISSN: 0143-991x
Article publication date: 13 August 2018
Issue publication date: 29 August 2018
Abstract
Purpose
The glass substrate transfer robot uses flexible arm and fork to transport the glass substrate which will generate vibration. To reduce the settling time and increase productivity, the authors proposed a vibration suppression method that integrated the continuous input shaping into the S-curve feedrate profiling.
Design/methodology/approach
The quasi-optimal S-curve feedrate profiling is achieved by the robot model. Then the outputs of the S-curve are shaped by the continuous input shaper, which can greatly lower the vibration and shorten the settling time.
Findings
The robot produces vibrations because of the flexibility of the belt system and the forks; the vibration of the robot is especially obvious in the acceleration and deceleration stage and the low-speed operation stage. Because the fork fingers are flexible, vibration at the end of the fork is enlarged.
Originality/value
The effectiveness of the proposed method is verified by the comparative experiments conducted on a glass substrate transfer robot.
Keywords
Citation
Liu, C. and Chen, Y. (2019), "Combined S-curve feedrate profiling and input shaping for glass substrate transfer robot vibration suppression", Industrial Robot, Vol. 45 No. 4, pp. 549-560. https://doi.org/10.1108/IR-11-2017-0201
Publisher
:Emerald Publishing Limited
Copyright © 2018, Emerald Publishing Limited