Patent ID: 11972965
Assignee: BROOKS AUTOMATION US, LLC
Field: Handling (Mechanical engineering)
Classification: CPC H  B  G | IPC B  G  H

Claim 12:
13. A substrate processing tool comprising:
a frame;
a drive section connected to the frame;
a transport arm, operably connected to the drive section, the arm being articulated and having an end effector, with a substrate holder, movable relative to the frame between a first position and a second position, different from the first position, in a transport space defined by articulation of the transport arm along at least one axis of motion relative to the frame; and
a controller operably connected to the drive section so as to effect articulation of the transport arm, the controller being configured to effect with the drive section linear motion of the arm, in an opposite direction to a direction in which arm bend is manifested, compensating for the arm bend so as to substantially cancel in entirety of an uncommanded arm displacement distance, relative to a predetermine reference datum, due to uncommanded arm geometry changed between the first position and second position.