Patent ID: 9043020
Filing Date: 2015-05-26
Classification: B25J,G05B

Abstract:
1. A method for determining a substrate transportation path when moving a substrate holding unit of a substrate transport robot from a predetermined start point to an end point in order to transport a substrate held in the substrate holding unit, the method comprising: determining a trajectory of a first straight line passing through the start point; calculating a trajectory of a circular arc in contact with the first straight line; calculating a trajectory of a second straight line in contact with the circular arc and passing through the end point; if the position of the end point is changed, re-calculating the second straight line as a straight line passing through the changed end point without changing a radius of the circular arc and in contact with the circular arc; and allowing the center of the substrate holding unit to move on the first straight line, and then, move on the circular arc from a contact point between the first straight line and the circular arc, followed by moving on the second straight line from a contact point between the circular arc and the second straight line so as to reach the end point.