Beam‐type substrate transport robots are widely used to handle substrates, especially in the solar cell manufacturing process. To reduce the takt time and increase productivity, accurate position control becomes increasingly important as the size of the substrate increases. However, the vibration caused by the flexible forks in beam‐type robots interferes with ...

We propose an ultrafast pulse shaping method by modulating the pulse phase and amplitude by the electro-optic effect and Bragg diffraction in the aperiodically optical superlattice. Linear-chirped periodically poled lithium niobate is used. The input pulse can be shaped, for example, by compressing it through the extraordinary refractive index change of the crystal by applying and changing the ...

Minimizingvibrationsof amaneuvered exiblemanipulatorisa challengingtask.Results are presented ofa series of experimental tests carried out on the Space Robot Simulator assembly, which has been set up at the Spacecraft Research and Design Center of the Naval Postgraduate School. The manipulator is planar with two rotational degrees of freedom and two links, of which either one or both can be  ...

This paper presents a robust mixed-sensitivity H1 controller design via loop-shaping methodology for a class of multiple-input multiple-output (MIMO) uncertain nonlinear systems. In order to design this controller, the nonlinear plant is first modeled as several linear subsystems by Takagi and Sugeno’s (T–S) fuzzy approach. Both loop-shaping methodology and mixed-sensitivity problem are then in...

Reference and command governors are add-on control schemes which enforce state and control constraints on pre-stabilized systems by modifying, whenever necessary, the reference. This paper surveys the extensive literature concerning the development of such schemes for linear and nonlinear systems. The treatment of unmeasured disturbances and parametric uncertainties is also detailed. Generaliza...

This paper proposes a solution to the problem of re-phasing circular or low eccentricity orbiting, short-distance spacecraft, by integrating existing analytical guidance solutions based on input-shaping and analytical control techniques for differential drag based on Lyapunov theory. The combined guidance and control approach is validated via numerical simulations in a full nonlinear environmen...

Anti-slug control of multiphase risers involves stabilizing an open-loop unstable operating point. PID control is the preferred choice in the industry, but appropriate tuning is required for robustness. In this paper, we define PIDF as a PID with a low-pass filter on its derivative action where the low-pass filter is crucial for the dynamics. We compared a new PIDF tuning based on Internal Mode...

In this paper, we present a novel approach, based on system inversion, for the point-to-point motion planning of vibratory servosystems. The idea is to define a suitable parameterized motion law of the load which assures that no oscillations occurs during and at the end of the motion; then, by means of a noncausal system inversion, the command function of the system is determined with a continu...