Patent ID: 6813543
Filing Date: 2004-11-02
Classification: H01L,Y10S,Y10T

Abstract:
A system for transporting a substrate comprising:a robotic arm mounted on a support movable vertically and positionable in a horizontal plane for moving a substrate from one station to another station; an end-effector movably connected to an end of said robotic arm, said end-effector including: a base; a substrate gripper movably mounted on said base and operative to grip and ungrip the substrate; and at least one sensory system disposed to sense an edge of the substrate upon passing a surface of the substrate; and a control processor in communication with the end-effector and the at least one sensory system and operative to calculate at least one of a location of the center and an alignment feature of said substrate based on data from said at least one sensory system and to generate an alignment signal to move said substrate gripper and to transmit an instruction to the end-effector to orient said substrate with respect to said robotic arm while said robotic arm moves said substrate from the one station to the other station.