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AN2350 Datasheet(PDF) 31 Page - STMicroelectronics

Part # AN2350
Description  Guidelines for the control of a multiaxial planar robot with ST10F276
PDF  41 Pages
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Manufacturer  STMICROELECTRONICS [STMicroelectronics]
Direct Link  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

AN2350 Datasheet(HTML) 31 Page - STMicroelectronics

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AN2350
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Figure 23.
The kinematics singularities of the wafer handler during motion
This problem happens only when the manipulator moves along a straight-line passing
through the origin (c = 0) and when the abscissas
and
are of opposite sign. The
problem has been solved making a change of orientation in the origin in order to cross the
kinematics singularity with an alternative configuration as shown in Figure 24.
Figure 24.
How to solve the kinematics singularities during the motion
1
x
2
x



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