Patent ID: 7167233

Claim:
A lithographic apparatus, comprising: an illumination system configured to condition a beam of radiation; a support structure configured to support a patterning device, the patterning device configured to impart the beam of radiation with a pattern in its cross-section; a substrate table configured to hold a substrate; a projection system configured to project the patterned beam of radiation onto a target portion of the substrate; a robot configured to exchange an exchangeable object, the robot including a base part and a movable part, the movable part being movably connected to the base part and comprising an object handler configured to handle the exchangeable object, and an object detector configured to detect the exchangeable object in the object handler, the object detector comprising a transmitter configured to transmit a signal, said signal being transmitted to said object handler, and a receiver configured to receive a signal, the transmitter and the receiver being positioned separately from the movable part of the robot.