Patent ID: 8958907
Filing Date: 2015-02-17
Classification: H01L,Y10S

Abstract:
1. A robot arm apparatus, comprising: an arm mechanism including plural links pivotally connected for pivotal motion in a horizontal plane, the plural links including a first link configured to hold a transport object at a distal end thereof; a sensor, provided on a second link whose distal end is connected to a proximal end of the first link, and configured to detect the transport object held by the first link; a driver configured to pivotally rotate the plural links to transport the transport object held by the first link, the driver pivotally rotating the first link with respect to the sensor; and a decision section configured to measure, when the driver pivotally rotates the first link with respect to the sensor at a predetermined speed, time required for the sensor to detect a first edge of the transport object after detecting a second edge of the transport object, the decision section being further configured to decide whether or not the transport object is correctly held at the right holding position by the first link in accordance with the measured time, wherein the sensor is provided at a position on the second link at which the sensor can detect the transport object, which is correctly held at a right holding position on the first link, when the driver pivotally rotates the first link with respect to the sensor.