Patent ID: 11862507
Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Field: Semiconductors (Electrical engineering)
Classification: CPC H  G | IPC H

Claim 4:
5. A robot system comprising:
a robot having one or more joints driven by an electric motor, and capable of holding a wafer by a holding part;
a control part for controlling the robot by giving commands to the robot; and
a positional displacement detection device capable of detecting a positional deviation of the wafer, wherein
the control part switches a transfer route of the wafer between a first route and a second route bases on a determination result of whether or not slippage has occurred between the holding part and the wafer during a transfer of the wafer, or bases on a slippage amount, the first route which does not go through the positional displacement detection device, the second route which dose go through the positional displacement detection device.