Patent ID: 8401701

Claim:
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: set an interference region in advance in a range of motion of the substrate transfer robot; store a plurality of patterns of a combination of a starting position, a target position, and the interference region, the starting position and the target position being among the plurality of taught positions; and determine which pattern among the plurality of patterns a movement of the substrate transfer robot from the starting position to the target position matches when the substrate transfer robot moves between the plurality of taught positions, 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.