Patent ID: 7286890

Claim:
A processing system comprising: a polygonal transfer chamber elongated in one direction; a plurality of chambers disposed around and connected to the transfer chamber, the plurality of chambers including a process chamber configured to perform a process on a target object; a transfer apparatus disposed in the transfer chamber and configured to transfer the target object to and from the plurality of chambers, the transfer apparatus including a base configured to perform a slide motion in a longitudinal direction of the transfer chamber, and an extendable/retractable transfer arm supported on the base and configured to perform a swing motion; and a control section configured to control the transfer apparatus, wherein the control section comprises a storage portion that stores pattern model data concerning a plurality of motion patterns each indicative of a composite motion of the slide motion and the swing motion necessary for transferring the target object between two of the plurality of chambers, and track model data concerning time-based motion tracks of the slide motion and the swing motion, respectively corresponding to the motion patterns, each of the time-based motion tracks being preset to prevent a composite acceleration applied to the target object on the transfer arm by the composite motion from exceeding a permissible limit, and an operational controller configured to retrieve a motion pattern and a time-based motion track from the pattern model data and the track model data to satisfy specific transfer of the target object between two of the plurality of chambers, and control an operation of the base and the transfer arm in accordance with the retrieved motion pattern and time-based motion track.