摘要:
In an apparatus for correcting deflection produced in a construction due to the weight of the construction or movement of a movable member supported by the construction, a condition data representing the deflection associated with the moved position of the movable member is stored in a memory section of a correction controller. The movement of the movable member is detected by a position detector and a position signal is generated from the position detector. A command signal is supplied to a calculator and the position signal is received in the calculator synchronized with the command signal. The condition data is accessed by the calculator with the received position signal and is processed into a correction data. A correction data is supplied to a proportional control electromagnetic valve and a hydraulic cylinder for applying a force onto the construction is regulated by the valve to correct the deflection of the construction.
摘要:
In an apparatus for determining whether a manipulator is operable, a rotational angle calculator performs, based on a length of each of first and second links at a specified temperature of a manipulator, a calculation operation to calculate a target rotational angle of at least one of the first and second links based on a joint. The target rotational angle of at least one of the first and second links based on operation of the joint is required for a predetermined point of the manipulator to be moved toward a setting movement position. A determiner determines, based on the target rotational angle of at least one of the first and second links, whether the predetermined point of the manipulator is movable to the setting movement position at the specified temperature of the manipulator.
摘要:
Generally, a robot for transferring a substrate in a processing system is provided. In one embodiment, a robot for transferring a substrate in a processing system includes a body, a linkage and an end effector that is adapted to retain the substrate thereon. The linkage couples the end effector to the body. The end effector and/or the linkage is comprised of a material having a coefficient of thermal expansion less than 5null10null6 Knull1. In another embodiment, the end effector and/or the linkage is comprised of a material having a ratio of thermal conductivity/thermal expansion greater than 1null107 W/(mnullK2). In yet another embodiment, the end effector and/or the linkage is comprised of a material having a ratio of thermal conductivity/thermal expansion greater than 1null107 W/(mnullK2) and a fracture toughness greater than 1null106 Pa m0.5.
摘要翻译:通常,提供了用于在处理系统中传送基板的机器人。 在一个实施例中,用于在处理系统中传送衬底的机器人包括主体,连杆以及适于将衬底保持在其上的端部执行器。 连杆将末端执行器连接到身体。 端部执行器和/或连杆由具有小于5×10 -6 K -1的热膨胀系数的材料组成。 在另一个实施例中,末端执行器和/或连杆由具有大于1×107W /(m.K2)的热导率/热膨胀率的材料组成。 在另一个实施例中,端部执行器和/或连杆由具有大于1×10 7 W /(m.K 2)的热导率/热膨胀比和大于1×10 6 Pa m0.5的断裂韧性的材料构成。
摘要:
Generally, a method of determining a position of a robot is provided. In one embodiment, a method of determining a position of a robot comprises acquiring a first set of positional metrics, acquiring a second set of positional metrics and resolving the position of the robot due to thermal expansion using the first set and the second set of positional metrics. Acquiring the first and second set of positional metrics may occur at the same location within a processing system, or may occur at different locations. For example, in another embodiment, the method may comprise acquiring a first set of positional metrics at a first location proximate a processing chamber and acquiring a second set of positional metrics in another location. In another embodiment, substrate center information is corrected using the determined position of the robot.
摘要:
Generally, a method of determining a position of a robot is provided. In one embodiment, a method of determining a position of a robot comprises acquiring a first set of positional metrics, acquiring a second set of positional metrics and resolving the position of the robot due to thermal expansion using the first set and the second set of positional metrics. Acquiring the first and second set of positional metrics may occur at the same location within a processing system, or may occur at different locations. For example, in another embodiment, the method may comprise acquiring a first set of positional metrics at a first location proximate a processing chamber and acquiring a second set of positional metrics in another location. In another embodiment, substrate center information is corrected using the determined position of the robot.
摘要:
The present disclosure generally describes a method for processing a workpiece in a machine, where the method determines an offset of the machine and adjusts for the offset during production operation. In one form, the method includes logging offset data of the machine over a period of operational time having varying thermal conditions, and comparing the logged offset data against a thermal model, where the thermal model is generated based on a probing routine and dry cycling for a plurality of test cycles on a calibration artifact. Based on the comparing, the method estimates offsets for the machine and adjusts offsets of the machine during operation.
摘要:
A controlling unit obtains an error in position and orientation of each joint of a robot. The controlling unit uses an error component in a driving direction of an actuator included in the error in position and orientation ui of the joint to obtain a first correction quantity, to obtain a residual error excluding the error component in the driving direction of the actuator from the error in position and orientation of the joint, and to obtain—an error in position and orientation of the end point of the robot based on the residual error of each joint. The controlling unit uses the error in position and orientation of the joint based on the error in position and orientation of the end point of the robot to obtain a second correction quantity Δqi, and uses the first correction quantity and the second correction quantity to correct a joint instruction value.
摘要:
Provided is a robot controlling device which can accurately estimate the temperature of a frame when the drive of a robot arm main body is restarted, thereby can accurately set the distal end of the robot arm main body at a target position.
摘要:
Generally, a method of determining a position of a robot is provided. In one embodiment, a method of determining a position of a robot comprises acquiring a first set of positional metrics, acquiring a second set of positional metrics and resolving the position of the robot due to thermal expansion using the first set and the second set of positional metrics. Acquiring the first and second set of positional metrics may occur at the same location within a processing system, or may occur at different locations. For example, in another embodiment, the method may comprise acquiring a first set of positional metrics at a first location proximate a processing chamber and acquiring a second set of positional metrics in another location. In another embodiment, substrate center information is corrected using the determined position of the robot.
摘要:
Generally, a method of determining a position of a robot is provided. In one embodiment, a method of determining a position of a robot comprises acquiring a first set of positional metrics, acquiring a second set of positional metrics and resolving the position of the robot due to thermal expansion using the first set and the second set of positional metrics. Acquiring the first and second set of positional metrics may occur at the same location within a processing system, or may occur at different locations. For example, in another embodiment, the method may comprise acquiring a first set of positional metrics at a first location proximate a processing chamber and acquiring a second set of positional metrics in another location. In another embodiment, substrate center information is corrected using the determined position of the robot.