晶圆搬运机器人的轨迹规划及伺服系统实现
PATH PLANNING AND SERVO SYSTEM IMPLEMENTATION FOR WAFER HANDLING ROBOT
摘 要
ABSTRACT
ACKNOWLEDGEMENTS
CONTENTS
NOMENCLATURE
LIST OF TABLES
LIST OF FIGURES
CHAPTER 1INTRODUCTION
1.1 Background
1.2 Literature review on path planning
1.3 Thesis outline
CHAPTER 2MATHEMATICAL MODELING OF THE WAFER HANDLING ROBOT
2.1 Rigid kinematics of the wafer handling robot
2.2 Rigid dynamics of wafer handling robot
2.3 Summary
CHAPTER 3PATH PLANNING FOR WAFER HANDLING ROBOT
3.1 Problem formulation
3.2 Trajectory generation
3.3 Simulation
3.4 Summary
CHAPTER 4MOTION CONTROL OF THE WAFER HANDLING SERVO SYSTEM
4.1 Introduction
4.2 Literature review
4.3 Wafer handling robot controller design
4.4 Summary
CHAPTER 5SERVO SYSTEM IMPLEMENTATION AND EXPERIMENTS
5.1 Introduction to servo system
5.2 Hardware Implementation
5.3 Experiments and Analysis
5.4 Summary
CONCLUSION
REFERENCES
哈尔滨工业大学硕士学位论文原创性声明
哈尔滨工业大学硕士学位论文使用授权书