Patent ID: 6246924
Filing Date: 2001-06-12
Classification: H01L

Abstract:
An apparatus for automatically realigning an end effector of an automated equipment after an undesired contact of said end effector with an object to prevent a crash of said end effector and to align said end effector with respect to said object, the apparatus comprising:a plurality of contact detectors, each of said contact detectors being disposed at a respective location with respect to said end effector, and each of said contact detectors responding to said contact by generating a respective signal for indicating direction of force on said end effector that results from said contact; andan end effector controller, coupled to said plurality of contact detectors and to said end effector, said end effector controller including means for controlling said end effector to move to a reset position to further align said end effector with said object after said contact when any of said respective signals from said plurality of contact detectors is greater than a first predetermined level, said reset position including a respective positional off-set having an offset direction that corresponds to the direction of said force on said end effector that results from said contact,wherein said offset direction depends on which of said plurality of contact detectors generated said respective signal that is greater than said first predetermined level.