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Proceedings Paper

Improvement of the path accuracy of the 7th generation LCD glass transfer robot
Author(s): Jae Chul Hwang; Kyung Seok Byun; Yong Won Choi; In Ho Lee; Dong Il Kim
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Paper 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.

Paper Details

Date Published: 2 May 2006
PDF: 6 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423K (2 May 2006); doi: 10.1117/12.664709
Show Author Affiliations
Jae Chul Hwang, Samsung Electronics Co., Ltd. (South Korea)
Kyung Seok Byun, Samsung Electronics Co., Ltd. (South Korea)
Yong Won Choi, Samsung Electronics Co., Ltd. (South Korea)
In Ho Lee, Samsung Electronics Co., Ltd. (South Korea)
Dong Il Kim, Samsung Electronics Co., Ltd. (South Korea)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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