Patent ID: 8401701
Filing Date: 2013-03-19
Classification: B25J,G05B,H01L

Abstract:
1. A substrate transfer robot comprising: a hand for holding a substrate and movable between a plurality of taught positions that have been taught beforehand so as to transfer the substrate; a controller programmed to: wherein the controller is programmed to perform an avoidance movement from the starting position to the target position so as to avoid the interference region in accordance with the determined pattern, wherein the controller is programmed to store the interference region for a case when the substrate transfer robot holds the substrate and the interference region for a case when the substrate transfer robot does not hold the substrate, and wherein the controller is programmed to determine the pattern by switching between the interference region for the case when the substrate transfer robot holds the substrate and the interference region for the case when the substrate transfer robot does not hold the substrate so as to determine which of the patterns the movement matches.