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

Claim 0:
1. A substrate transport apparatus 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 comprising an arm bend compensator configured so that the arm bend compensator resolves, based on arm bend compensator calculation of an uncommanded arm displacement distance of the transport arm, due to uncommanded arm geometry changes, between the first position and second position.