Patent ID: 7233842
Filing Date: 2007-06-19
Classification: H01L,Y10S,Y10T

Abstract:
1. A method of determining an axial alignment of a centroid of an end effector and an effective center of a specimen held by the end effector, the end effector implemented to have a controllable supination angle of rotation about a supination axis and operatively coupled to a robot arm that is positionable in at least two dimensions, comprising: causing the end effector to hold a specimen having an effective center; determining a first location of the effective center of the specimen; rotating the end effector holding the specimen through a supination angle of 180° and determining a second location of the effective center of the specimen; and determining whether the first and second locations are in mirror image positions on opposite sides of the supination axis of rotation to assess whether the centroid is offset from the effective center.