Combined S-curve feedrate profiling and input shaping for glass substrate transfer robot vibration suppression

Purpose: The glass substrate transfer robot uses flexible arm and fork to transport the glass substrate which will generate vibration. To reduce the settling time and increase productivity, the authors proposed a vibration suppression method that integrated the continuous input shaping into the S-curve feedrate profiling. Design/methodology/approach: The quasi-optimal S-curve feedrate profiling is achieved by the robot model. Then the outputs of the S-curve are shaped by the continuous input shaper, which can greatly lower the vibration and shorten the settling time. Findings: The robot produces vibrations because of the flexibility of the belt system and the forks; the vibration of the robot is especially obvious in the acceleration and deceleration stage and the low-speed operation stage. Because the fork fingers are flexible, vibration at the end of the fork is enlarged. Originality/value: The effectiveness of the proposed method is verified by the comparative experiments conducted on a glass substrate transfer robot.