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

Claim 20:
21. A method comprising:
providing a substrate transport apparatus having a drive section connected to a frame, and 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
resolving an uncommanded arm displacement distance of the transport arm, due to uncommanded arm geometry changes, between the first position and the second position, where the uncommanded arm displacement distance of the transport arm between the first position and the second position is calculated from an arm bend register of an arm bend compensator that resides within a controller connected to the drive section so as to effect articulation of the transport arm.