Patent ID: 8473096

Claim:
A substrate transfer robot comprising: a substrate gripping portion configured to hold a substrate; an arm unit including a plurality of arms which are capable of turning in a horizontal plane, the arm unit having the substrate gripping portion at a leading end of the arm unit and being configured to transfer the substrate between a plurality of taught positions taught beforehand; and a controller, when the taught positions are taught, configured to generate an access standby position corresponding to each of the plurality of taught positions and configured to generate and store a plurality of routes from the access standby position to a minimum turning posture of the substrate transfer robot, wherein, when a first taught position and a second taught position are taught, the controller generates a first access standby position corresponding to the first taught position and a second access standby position corresponding to the second taught position, and generates and stores a first route from the first access standby position to the minimum turning posture and a second route from the second access standby position to the minimum turning posture, the first access standby position comprising a position from which the substrate gripping portion can linearly carry the substrate to the first taught position, the second access standby position comprising a position from which the substrate gripping portion can linearly carry the substrate to the second taught position, wherein, when instructions to transfer the substrate from the first taught position to the second taught position are given, and when a first vector from a turn center of the substrate gripping portion to a leading end of the substrate gripping portion at the first taught position is substantially parallel to a second vector from the turn center of the substrate gripping portion to the leading end of the substrate gripping portion at the second taught position, the controller determines whether or not the substrate can be linearly transferred from the first access standby position for the first taught position to the second access standby position for the second taught position, and wherein, when it is determined that the substrate can be linearly transferred from the first access standby position to the second access standby position, the controller generates and stores a third route linearly connecting the first access standby position to the second access standby position, and selects the third route instead of the first route and the second route to transfer the substrate from the first taught position to the second taught position.