Patent ID: 8924118

Claim:
A transfer system comprising: a transfer room that includes an exclusive area that includes a movable area of an opening and closing device opening and closing a storage container for thin plate-like workpieces, the opening and closing device being mounted on a wall surface; a robot that includes an arm unit that is equipped, at a terminal end thereof, with a robot band transferring the thin plate-like workpieces and operates in horizontal directions, the robot being installed in the transfer room so that a part of the arm unit passes through the exclusive area when the arm unit is folded so as to be in a shortest turning radius orientation; a trajectory generator that generates a trajectory of the robot hand; a determination unit that determines, based on the trajectory generated by the trajectory generator, whether a part of the arm unit intrudes into the exclusive area when the robot hand is not holding the thin plate-like workpieces, and that determines, based on the trajectory generated by the trajectory generator, whether an area obtained by adding an outer shape of the thin plate-like workpiece to the part of the arm unit intrudes into the exclusive area when the robot hand is holding the thin plate-like workpieces; and an output unit that outputs a predetermined signal when the determination unit determines that the part of the arm unit intrudes into the exclusive area and when the determination unit determines that the area obtained by adding the outer shape of the thin plate-like workpiece to the part of the arm unit intrudes into the exclusive area.