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    High fidelity control and simulation of a three degrees-of-freedom wafer handling robot

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    BABAYAN-THESIS-2014.pdf (11.40Mb)
    Date
    2014-12-05
    Author
    Babayan, Elaina Noelle
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    Abstract
    Wafer handling robotics are critical in semiconductor manufacturing to enable tight control of temperature, humidity, and particle contamination during processing. Closed-loop dynamic modeling during the robot design process ensures designs meet throughput and stability specifications prior to prototype hardware purchase. Dynamic models are also used in model-based control to improve performance. This thesis describes the generation and mathematical verification of a dynamic model for a three degrees-of-freedom wafer handling mechanism with one linear and two rotary axes. The dynamic plant model is integrated with motion and motor controller models, and the closed-loop performance is compared with experimental data. Models with rigid and flexible connections are compared, and the flexible connection models are shown to overall agree better with a measured step response. The simulation time increase from the addition of flexible connections can be minimized by modeling only the component stiffnesses that impact the closed-loop mechanism response. A method for selecting which elements to include based on controller bandwidth is presented and shown to significantly improve simulation times with minimal impact on model predictive performance.
    URI
    http://hdl.handle.net/1853/54313
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    • Georgia Tech Theses and Dissertations [23403]
    • School of Mechanical Engineering Theses and Dissertations [4008]

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