TW399008B - Time optimal trajectory for cluster tool robots - Google Patents

Time optimal trajectory for cluster tool robots Download PDF

Info

Publication number
TW399008B
TW399008B TW085102151A TW85102151A TW399008B TW 399008 B TW399008 B TW 399008B TW 085102151 A TW085102151 A TW 085102151A TW 85102151 A TW85102151 A TW 85102151A TW 399008 B TW399008 B TW 399008B
Authority
TW
Taiwan
Prior art keywords
point
acceleration
line
speed
moving line
Prior art date
Application number
TW085102151A
Other languages
English (en)
Chinese (zh)
Inventor
Brian Mark Lucas
Original Assignee
Brooks Automation Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brooks Automation Inc filed Critical Brooks Automation Inc
Application granted granted Critical
Publication of TW399008B publication Critical patent/TW399008B/zh

Links

Classifications

    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B3/00—Recording by mechanical cutting, deforming or pressing, e.g. of grooves or pits; Reproducing by mechanical sensing; Record carriers therefor
    • G11B3/02—Arrangements of heads
    • G11B3/10—Arranging, supporting, or driving of heads or of transducers relatively to record carriers
    • G11B3/34—Driving or guiding during transducing operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40454—Max velocity, acceleration limit for workpiece and arm jerk rate as constraints
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40517—Constraint motion planning, variational dynamic programming

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Control Of Position Or Direction (AREA)
TW085102151A 1995-03-31 1996-02-26 Time optimal trajectory for cluster tool robots TW399008B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US08/414,340 US5655060A (en) 1995-03-31 1995-03-31 Time optimal trajectory for cluster tool robots

Publications (1)

Publication Number Publication Date
TW399008B true TW399008B (en) 2000-07-21

Family

ID=23641034

Family Applications (1)

Application Number Title Priority Date Filing Date
TW085102151A TW399008B (en) 1995-03-31 1996-02-26 Time optimal trajectory for cluster tool robots

Country Status (8)

Country Link
US (2) US5655060A (enExample)
EP (1) EP0861487B1 (enExample)
JP (1) JP3690811B2 (enExample)
KR (1) KR100377973B1 (enExample)
AU (1) AU4868696A (enExample)
DE (1) DE69627879T2 (enExample)
TW (1) TW399008B (enExample)
WO (1) WO1996030896A1 (enExample)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI500492B (zh) * 2008-06-10 2015-09-21 Murata Machinery Ltd Parallel link mechanism
TWI629149B (zh) * 2015-12-14 2018-07-11 川崎重工業股份有限公司 Substrate transfer robot and operation method thereof
US10058998B2 (en) 2011-09-02 2018-08-28 Brooks Automation, Inc. Time-optimal trajectories for robotic transfer devices
CN111051010A (zh) * 2017-09-04 2020-04-21 松下知识产权经营株式会社 机器人控制装置

Families Citing this family (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5655060A (en) * 1995-03-31 1997-08-05 Brooks Automation Time optimal trajectory for cluster tool robots
JP3105544B2 (ja) * 1996-03-18 2000-11-06 株式会社小松製作所 ワーク搬送システムの制御装置
US6152070A (en) 1996-11-18 2000-11-28 Applied Materials, Inc. Tandem process chamber
US6224312B1 (en) * 1996-11-18 2001-05-01 Applied Materials, Inc. Optimal trajectory robot motion
US6257827B1 (en) * 1997-12-01 2001-07-10 Brooks Automation Inc. Apparatus and method for transporting substrates
US6198976B1 (en) 1998-03-04 2001-03-06 Applied Materials, Inc. On the fly center-finding during substrate handling in a processing system
US6267549B1 (en) 1998-06-02 2001-07-31 Applied Materials, Inc. Dual independent robot blades with minimal offset
US6424733B2 (en) 1998-07-20 2002-07-23 Micron Technology, Inc. Method and apparatus for inspecting wafers
JP2000223549A (ja) * 1999-01-29 2000-08-11 Canon Inc 基板搬送装置、基板搬送方法、基板搬送用ハンド機構、灰化処理装置及び灰化処理方法
US6190103B1 (en) 1999-03-31 2001-02-20 Gasonics International Corporation Wafer transfer device and method
US6183026B1 (en) 1999-04-07 2001-02-06 Gasonics International Corporation End effector
US6216058B1 (en) * 1999-05-28 2001-04-10 Brooks Automation, Inc. System of trajectory planning for robotic manipulators based on pre-defined time-optimum trajectory shapes
KR100551806B1 (ko) * 1999-09-06 2006-02-13 동경 엘렉트론 주식회사 반도체 처리용 반송 장치 및 수용 장치와, 반도체 처리시스템
US6856863B1 (en) 2000-07-27 2005-02-15 Applied Materials, Inc. Method and apparatus for automatic calibration of robots
US6690993B2 (en) * 2000-10-12 2004-02-10 R. Foulke Development Company, Llc Reticle storage system
US6918731B2 (en) * 2001-07-02 2005-07-19 Brooks Automation, Incorporated Fast swap dual substrate transport for load lock
WO2003007129A2 (en) * 2001-07-13 2003-01-23 Broks Automation, Inc. Trajectory planning and motion control strategies for a planar three-degree-of-freedom robotic arm
US6850386B2 (en) 2001-07-18 2005-02-01 Seagate Technology Llc Control object positioning using an optimum jerk profile to reduce excitation of mechanical resonances
DE10223670A1 (de) * 2002-05-28 2003-12-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bewegen eines Handhabungssystems
US7012391B2 (en) * 2002-08-09 2006-03-14 Seagate Technology Llc Motor acceleration using continuous sequence of current limit values
US6873490B2 (en) * 2002-10-10 2005-03-29 Seagate Technology Llc Control object positioning using jerk, current and time optimized control profiles
US7130716B2 (en) * 2003-04-22 2006-10-31 Berkeley Process Control, Inc. System of path planning for robotic manipulators based on maximum acceleration and finite jerk constraints
US20050107909A1 (en) * 2003-11-14 2005-05-19 Siemens Technology-To-Business Center Llc Systems and methods for programming motion control
US20050107911A1 (en) * 2003-11-14 2005-05-19 Siemens Technology-To-Business Center Llc Systems and methods for controlling load motion actuators
US20050065633A1 (en) * 2003-11-14 2005-03-24 Michael Wynblatt Systems and methods for relative control of load motion actuators
US6988020B2 (en) * 2003-11-14 2006-01-17 International Business Machines Corporation Method and apparatus to move an accessor within a data storage and retrieval system
JP4304133B2 (ja) * 2004-07-30 2009-07-29 東芝機械株式会社 産業用ロボットの移動時間表示装置
US7208898B2 (en) * 2005-06-22 2007-04-24 The Board Of Regents For Oklahoma State University Near time-optimal jerk trajectory for positioning a control object
CN100358097C (zh) * 2005-08-05 2007-12-26 中微半导体设备(上海)有限公司 半导体工艺处理系统及其处理方法
WO2007061603A2 (en) * 2005-11-21 2007-05-31 Applied Materials, Inc. Methods and apparatus for transferring substrates during electronic device manufacturing
EP1870211B1 (en) * 2006-06-22 2019-02-27 Honda Research Institute Europe GmbH Method for controlling a robot by assessing the fitness of a plurality of simulated behaviours
WO2010013732A1 (ja) * 2008-08-01 2010-02-04 株式会社アルバック 搬送ロボットのティーチング方法
DE102009023307A1 (de) * 2009-05-29 2010-12-02 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Steuerung eines Manipulators
JP5743437B2 (ja) * 2009-07-09 2015-07-01 キヤノン株式会社 露光装置、露光方法、搬送方法及びデバイスの製造方法
KR101749515B1 (ko) * 2010-10-27 2017-06-21 삼성전자 주식회사 모터 속도 제어 장치 및 그 방법
US8874258B2 (en) 2011-09-13 2014-10-28 Persimmon Technologies Corporation Method for transporting a substrate with a substrate support
JP2013091080A (ja) * 2011-10-26 2013-05-16 Amada Co Ltd ワーク移送方法及びワーク移送装置
JP6128767B2 (ja) * 2012-07-05 2017-05-17 キヤノン株式会社 ロボット制御装置、及びロボット制御方法
US9864822B2 (en) * 2012-10-22 2018-01-09 Guedel Group Ag Method for the determination of workpiece transport trajectories in a multiple station press
JP5908544B2 (ja) 2014-08-11 2016-04-26 ファナック株式会社 駆動軸のジャークを低下させるロボットプログラムを生成するロボットプログラム生成装置
US10073908B2 (en) * 2015-06-15 2018-09-11 International Business Machines Corporation Functional space-time trajectory clustering
US10580681B2 (en) * 2016-07-10 2020-03-03 Yaskawa America Inc. Robotic apparatus and method for transport of a workpiece
DE102017011334A1 (de) * 2017-12-08 2019-06-13 Kuka Deutschland Gmbh Abfahren einer vorgegebenen Arbeitsbahn mit einem Roboter
CN109765851B (zh) * 2019-02-15 2021-02-05 大族激光科技产业集团股份有限公司 轨迹运动的速度计算方法、装置、存储介质及计算机设备
JP6983206B2 (ja) * 2019-10-15 2021-12-17 株式会社アルバック 基板搬送装置、および、基板搬送方法
US11498213B2 (en) * 2020-09-23 2022-11-15 Applied Materials, Inc. Robot joint space graph path planning and move execution

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5444916Y2 (enExample) * 1976-06-23 1979-12-24
US5003522A (en) * 1978-12-01 1991-03-26 Dolby Ray Milton Disc reproducing system for compensating mechanical imperfections
EP0137819B1 (en) * 1983-02-14 1987-08-12 Aeronca Electronics, Inc. Articulated arm transfer device
US4909701A (en) * 1983-02-14 1990-03-20 Brooks Automation Inc. Articulated arm transfer device
US4666366A (en) * 1983-02-14 1987-05-19 Canon Kabushiki Kaisha Articulated arm transfer device
US4975856A (en) * 1986-02-18 1990-12-04 Robotics Research Corporation Motion controller for redundant or nonredundant linkages
US4937759A (en) * 1986-02-18 1990-06-26 Robotics Research Corporation Industrial robot with controller
US4973215A (en) * 1986-02-18 1990-11-27 Robotics Research Corporation Industrial robot with servo
US5076399A (en) * 1990-09-28 1991-12-31 Otis Elevator Company Elevator start control technique for reduced start jerk and acceleration overshoot
KR940003005B1 (ko) * 1991-01-26 1994-04-09 삼성전자 주식회사 동기형 교류 서보모터의 속도제어방법
US5180276A (en) * 1991-04-18 1993-01-19 Brooks Automation, Inc. Articulated arm transfer device
US5655060A (en) * 1995-03-31 1997-08-05 Brooks Automation Time optimal trajectory for cluster tool robots

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI500492B (zh) * 2008-06-10 2015-09-21 Murata Machinery Ltd Parallel link mechanism
US10058998B2 (en) 2011-09-02 2018-08-28 Brooks Automation, Inc. Time-optimal trajectories for robotic transfer devices
TWI681851B (zh) * 2011-09-02 2020-01-11 美商布魯克斯自動機械公司 用於機械轉換裝置之時間最佳軌道
US10967511B2 (en) 2011-09-02 2021-04-06 Brooks Automation, Inc. Time-optimal trajectories for robotic transfer devices
TWI629149B (zh) * 2015-12-14 2018-07-11 川崎重工業股份有限公司 Substrate transfer robot and operation method thereof
CN111051010A (zh) * 2017-09-04 2020-04-21 松下知识产权经营株式会社 机器人控制装置
CN111051010B (zh) * 2017-09-04 2023-03-14 松下知识产权经营株式会社 机器人控制装置

Also Published As

Publication number Publication date
US5655060A (en) 1997-08-05
US6002971A (en) 1999-12-14
AU4868696A (en) 1996-10-16
KR19980703447A (ko) 1998-11-05
JPH11503369A (ja) 1999-03-26
EP0861487B1 (en) 2003-05-02
DE69627879D1 (de) 2003-06-05
DE69627879T2 (de) 2003-12-24
EP0861487A1 (en) 1998-09-02
KR100377973B1 (ko) 2003-08-19
EP0861487A4 (enExample) 1998-09-02
JP3690811B2 (ja) 2005-08-31
WO1996030896A1 (en) 1996-10-03

Similar Documents

Publication Publication Date Title
TW399008B (en) Time optimal trajectory for cluster tool robots
JP3910157B2 (ja) ロボット装置
JP3782679B2 (ja) 干渉回避装置
US7558647B2 (en) Device and method for controlling robot arm, robot and program based on object-dependent impedance
JP5849403B2 (ja) ロボットコントローラー、ロボット、及び、ロボットシステム
JP6333795B2 (ja) 学習による教示作業の簡易化及び動作性能向上機能を備えたロボットシステム
JP2020066080A (ja) 人と協働作業を行うロボットシステム、及びロボット制御方法
WO2018079351A1 (ja) 基板把持ハンド及びそれを備える基板搬送装置
Mucchiani et al. Dynamic grasping for object picking using passive zero-dof end-effectors
US10727104B2 (en) Control apparatus
JP4303411B2 (ja) トラッキング方法、及びトラッキングシステム
JP2017056525A (ja) ロボット装置、ロボット制御方法、プログラム、記録媒体及び組立部品の製造方法
TWI755947B (zh) 機器人系統之控制方法
JP4016305B2 (ja) ロボットの制御装置
CN111051010B (zh) 机器人控制装置
JP2000094371A5 (ja) ロボットの制御装置
JP2001310285A (ja) チューブ搬送装置
JP2018065232A (ja) ロボット制御装置、ロボット、及びロボットシステム
JP2013091137A (ja) ロボットシステムおよび加工品の製造方法
JPH07108475A (ja) 多機能ロボット
JPH07256580A (ja) 複腕協調制御装置
JP5089329B2 (ja) 部品実装方法、部品実装機およびプログラム
JP2002321178A (ja) ロボットの加減速時間決定方法
JP2003145461A (ja) アーム制御方法およびアーム制御装置
WO2024038572A1 (ja) プログラム生成装置、制御装置及びプログラム

Legal Events

Date Code Title Description
GD4A Issue of patent certificate for granted invention patent
MK4A Expiration of patent term of an invention patent