WO2006117840A1 - ロボットへのワーク受渡し位置教示装置及び教示方法 - Google Patents
ロボットへのワーク受渡し位置教示装置及び教示方法 Download PDFInfo
- Publication number
- WO2006117840A1 WO2006117840A1 PCT/JP2005/007978 JP2005007978W WO2006117840A1 WO 2006117840 A1 WO2006117840 A1 WO 2006117840A1 JP 2005007978 W JP2005007978 W JP 2005007978W WO 2006117840 A1 WO2006117840 A1 WO 2006117840A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- work
- workpiece
- robot
- jig
- teaching
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/687—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches
- H01L21/68707—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping using mechanical means, e.g. chucks, clamps or pinches the wafers being placed on a robot blade, or gripped by a gripper for conveyance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/421—Teaching successive positions by mechanical means, e.g. by mechanically-coupled handwheels to position tool head or end effector
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
- H01L21/682—Mask-wafer alignment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39021—With probe, touch reference positions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50036—Find center of circular mark, groove
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50125—Configurable fixture, jig
Definitions
- the invention of the present application is used to teach the robot in advance a workpiece delivery position such that the center position of the workpiece does not shift when delivering a workpiece between devices having workpiece holding means for holding the outer periphery of the workpiece.
- the present invention relates to such an apparatus and method that is inexpensive and can provide teaching in a short time.
- Patent Document 1 Re-issued Patent Publication WO2003Z022534
- Patent Document 2 Japanese Patent Application Laid-Open No. 2003-218186
- the invention of the present application solves the above-mentioned problems with the conventional workpiece delivery position teaching device and teaching method to a robot, and enables inexpensive and short time using sensors and imaging means etc. It is an object of the present invention to provide a work delivery position teaching device and teaching method to a robot that can teach at
- the work delivery position teaching device to the robot includes: a movable robot hand having a work holding means for holding the outer periphery of the work; and a fixed work placement table having a work holding means for holding the outer periphery of the work.
- a workpiece delivery position teaching device for a robot used to teach the robot a workpiece delivery position in advance so that the center position of the workpiece does not shift when delivering the workpiece between the workpieces
- the work delivery position teaching device to the robot is configured as described above, and includes a first jig, a second jig, and a center position of the work indicated by the first jig. Since the robot includes a teaching means for teaching the control device of the robot the position of the robot hand when the second jig indicates the center position of the work indicated by the second jig, the sensor or It is possible to provide a workpiece delivery position teaching device to a robot which is inexpensive and can teach in a short time without using an imaging means or the like.
- a concave portion or a convex portion is formed at the center position of the workpiece indicated by the first jig of the workpiece delivery position teaching device to the robot, and the center of the workpiece indicated by the second jig
- the projections or recesses are formed at the positions.
- a first auxiliary jig is further provided, and the first auxiliary jig has the same diameter as the workpiece.
- a first auxiliary convex portion or a first auxiliary concave portion is formed at the center of the first auxiliary convex portion or the first convex portion in the concave portion or the convex portion of the first jig attached to the robot hand; Allowing the position of the movable work holding means to be adjusted so as to grip the first auxiliary jig, with the auxiliary recesses of the second embodiment fitted or aligned. Be done.
- the method of teaching a workpiece delivery position to the robot includes: a movable robot hand having a hook holding means for holding the outer periphery of the workpiece; and a fixed side work having a workpiece holding means for holding the outer periphery of the workpiece.
- Workpiece delivery to the robot used to teach the robot the workpiece delivery position in advance so that the center position of the workpiece does not shift when delivering the workpiece with the mounting table.
- the workpiece indicated by the first jig is used with a second jig that indicates the center position of the workpiece when the stationary side holding means grips the workpiece on the workpiece mounting table.
- the controller of the robot is taught the position of the robot when the center position and the center position of the workpiece indicated by the second jig coincide with each other. This is a method of teaching work delivery position to a robot.
- the method for teaching a workpiece delivery position to the robot is configured as described above, and using the first jig and the second jig, the center of the workpiece indicated by the first jig is used. Since the robot control device is taught the position of the robot hand when the position and the center position of the workpiece indicated by the second jig coincide with each other, a sensor, an imaging means, etc. are used. Something It is possible to provide a method for teaching a workpiece delivery position to a robot which is inexpensive and can teach in a short time.
- the first jig, the second jig, and the workpiece indicated by the first jig are provided.
- the teaching means for teaching the robot control device the position of the robot hand when the center position of the work and the work center position indicated by the second jig coincide with each other. Accordingly, it is possible to provide an apparatus for teaching a delivery position to a robot which can be taught at a low cost and in a short time without using a sensor, an imaging means or the like.
- FIG. 1 is a perspective view of a workpiece delivery position teaching device to a robot according to an embodiment of the present invention.
- FIG. 2 It is a perspective view when the work delivery position teaching device to the robot is in a state of teaching.
- FIG. 3 is a view showing the relationship between a first jig and a first auxiliary jig, which are used to adjust the position of the workpiece holding means of the robot hand, and the hand.
- FIG. 4 is a view similar to FIG. 3, but showing the first jig attached to the hand of the robot.
- FIG. 5 is a view similar to FIG. 4, but showing the first auxiliary jig held by the workpiece holding means of the robot hand.
- FIG. 6 is a diagram showing an initial state of the stationary apparatus.
- FIG. 7 is a back plan view of a cover that covers the central depression of the stationary device.
- FIG. 8 is a partial cross-sectional view of the stationary-side device in a state in which the central depression of the stationary-side device is covered.
- FIG. 8 is a view showing a state in which the second auxiliary jig is removed in FIG. 8, and showing a relationship between the second jig and the stationary device.
- FIG. 10 is a view similar to FIG. 9, in which the second jig is a central portion of the work mounting table of the fixed side device. It is a figure which shows the state fitted and fixed to the recessed part formed in.
- FIG. 10 is a view showing a normal state of the fixed-side device closed by the center depression force S cover of the workpiece mounting table with the second jig removed in FIG.
- the work is transferred between the movable robot hand having the work holding means for holding the outer periphery of the work and the stationary work mounting table having the work holding means for holding the outer periphery of the work.
- the first jig which indicates the center position of the work when holding the work, and the center of the work when the work holding device on the stationary side holds the work on the work mounting table.
- the position of the robot arm when the second jig indicating the position matches the center position of the workpiece indicated by the first jig and the center position of the workpiece indicated by the second jig is System Shall comprising a teaching means for teaching device.
- FIG. 1 is a perspective view of a workpiece delivery Lf standing teaching device to a robot according to this embodiment
- FIG. 2 is a perspective view of the same teaching device in a teaching state.
- the work delivery position teaching device to a robot is, for example, a semiconductor manufacturing factory where the robot's hand is used to transfer a semiconductor substrate (wafer) between processing apparatuses with the robot interposed.
- the work is received so that the center position of the work does not shift. It is used to teach the robot a passing position in advance.
- the fixed-side apparatus shown in the present embodiment is, for example, an air floating type aligner, but it may be a loader or unloader of a processing apparatus which is not limited to this.
- the work delivery position teaching device 1 to a robot includes a first jig 6 mounted on the movable robot hand 2 and a fixed side. It comprises a second jig 13 mounted on a work mounting table 8 provided in the apparatus 7 and an electronically configured teaching means not shown.
- the first jig 6 is an elongated bar having a rectangular parallelepiped shape, and is positioned at the proximal end of the robot hand 2 at a central portion between a pair of blades 3 and 3 constituting the robot hand 2. (Two or more pieces attached to the upper surface of each of the pair of blades 3 and 3. In this embodiment, one in the tip and two in the base) A concave portion 5 is formed at a position where a claw 4 having three receiving seats grips a work (not shown) and is at the center position of the work.
- the pair of blades 3 and 3 and the claw 4 having a total of six receiving seats constitute work holding means on the robot side (movable side).
- the recess 5 is not limited to the force formed as the vertically penetrating hole 5 in the present embodiment, and may be a blind hole.
- the second jig 13 has a multistage headed pin shape, as shown in FIG. 9, and the largest diameter portion 12 of the multistage head portion is the workpiece mounting surface of the stationary device 7. It is fitted in the recess 9 (see Fig. 9) formed in the center of the mounting table 8 and is mounted and fixed to the workpiece mounting table 8.
- the pin portion (convex portion) of the second jig 13 is a pin 11, and this pin 11 is fixed when the largest diameter portion 12 of the head is fitted inside the projection 16.
- rollers 10 work centering means
- the maximum diameter portion 12 of the head of the second jig 13 and the pin 11 are formed exactly concentrically.
- the fixed side device 7 is an air floating type aligner.
- the wafer is horizontally supported in a non-contact state by air jetted from the surface of the mounting table 8, and the plurality of rollers 10 disposed around the workpiece mounting table 8 center the wafer and hold it at that position.
- Work table Recesses 9 formed in the central portion of 8 are formed so as to be surrounded by a plurality of projections 16 arranged concentrically at equal intervals in the central portion of the work mounting table 8.
- the plurality of projections 16 are formed so as to project the bottom surface force of the central depression 15 which is surrounded by the annular convex portion 14 which is formed to project from the central portion of the work mounting table 8.
- An air spout 17 is formed in the center of the recess 9 at the bottom of the central recess 15.
- the cover 18 has an inverted trapezoidal shape in a side view, and an annular recess 23 is formed on the bottom surface. Furthermore, the cover 18 is provided with a plurality of bolt fastening holes 19.
- the protrusion 16 enters the annular recess 23 of the cover 18 and the cover 18 is also supported by the protrusion 16 in the downward direction, forming a slight gap 22 between the central recess 15 and the cover 18. It will be in a state of In this condition, the cover 18 is fastened by means of bolts 24 to the central recess 15 via the holes 19.
- the teaching means is electrically configured, is connected to the control device of the robot, and as shown in FIG. 2, the second jig in the hole 5 of the first jig 6.
- the position of the robot hand 2 when the 13 pins 11 are fitted and inserted is taught to the control device of the robot as a workpiece delivery position.
- the teaching operation of the workpiece delivery position to the robot is completed.
- the control device of the robot receiving the teaching of the workpiece delivery position as described above is the workpiece delivery position on the workpiece placement table 8 where the robot hand 2 actually gripping the workpiece is taught (first jig 6 The position at which the pin 11 of the second jig 13 is inserted into the hole 5 of the hole 5. However, in actual delivery of the work, these jigs are removed. At the same time, work Air is jetted from the air jet port 17 of the mounting table 8. After that, the robot hand 2 moves the work to a predetermined height (the work holding height on the work mounting table 8), and the four rollers 10 of the fixed side device 7 work They move so as to reduce the diameter of the common virtual circle they circumscribe on the table 8 and approach each other to center the work.
- the robot hand 2 passes the work onto the four rollers 10 (work centering means) and then descends slightly and then retracts from the work mounting table 8.
- the workpiece holding center positions are made to coincide with each other in advance, without damaging the workpiece.
- the center position of the workpiece is first The means and method for making the position of the hole 5 of the jig 6 easily coincide with the position of the jig 5 with high accuracy will be described.
- the center position of the workpiece when the workpiece holding means of the robot hand 2 grips the workpiece is easily aligned with the position of the hole 5 of the first jig 6, and the position is accurately determined.
- Means and method (in other words, means and method for finding the center position of the work on the robot hand 2) Will be described with reference to FIGS.
- a first jig 6 and a first auxiliary jig 20 are used, as illustrated in FIG.
- the first jig 6 consists of a rectangular rod-like elongated rod force, and is located at the proximal end of the robot blade 2 at the center between the pair of blades 3 and 3 constituting the hand 2. (See Fig. 4), and at its mid-longitudinal position, a claw 4 having six receiving seats attached to the upper surface of each of the pair of blades 3, 3 grips the work. A hole 5 is formed through the top and bottom to indicate the temporary center position of the base.
- the first auxiliary jig 20 also has a disk force equalized with the diameter of the work, and an auxiliary hole (first auxiliary recess) 21 is provided at the center of the first auxiliary jig 20. ing.
- the auxiliary hole 21 can be replaced by an auxiliary pin (first auxiliary convex portion).
- the first auxiliary jig 20 formed as described above is a first jig in which the auxiliary hole 21 is attached to the robot board 2.
- the first jig 6 and the pair of blades 3, 3 are placed on the first jig 6 and aligned so as to match the holes 5 of 6.
- the workpiece holding means of the robot hand 2 grips the outer periphery of the first auxiliary jig 20.
- the position is adjusted. That is, while the pair of blades 3 and 3 are brought close to each other moderately, the claws 4 having six receiving seats are adjusted in their positions.
- the pair of blades 3 and 3 is obtained.
- the workpiece can be gripped from the outer periphery thereof such that the center position of the workpiece is just at the position of the hole 5 of the first jig 6.
- the workpiece holding means of the robot template 2 shown in FIG. 1 is in the state of being adjusted in this manner.
- the first jig 6 is removed when the robot hand 2 actually grips the work.
- the claw 4 having two receiving seats attached to the base end of the upper surface of each of the pair of blades 3, 3 constituting the robot hand 2 has an orientation 'flat In the case where a so-called ori-fla) is attached, it is provided to hold the work, and it may be one that is not always provided two.
- the teaching operation of the workpiece delivery position to the robot control device is finished, and the second jig 13 is removed from the workpiece mounting table 8,
- the central depression 15 of the work mounting table 8 is closed by the cover 18 to indicate a normal state in which the preparation for delivering the work is completed.
- the workpiece delivery position teaching device 1 to the robot includes a first jig 6, a second jig 13, and a pin 11 of the second jig 13 in a hole 5 of the first jig 6. Since it comprises the teaching means for teaching the control device of the robot the position of the robot hand 2 at the time of passing, it is inexpensive and short in time to use sensors and imaging means etc. It is possible to provide a work delivery position teaching device and teaching method to a robot that can teach.
- a first auxiliary jig 20 is further provided, and the first auxiliary jig 20 has the same diameter as the work, and the auxiliary hole 21 is provided at the center thereof.
- the auxiliary hole 21 is aligned with the hole 5 of the first jig 6 mounted on the workpiece holding means (the movable side work holding means, a pair of blades 3, 3 of the robot template 2).
- a claw 4 having six receiving seats and a force), which is supposed to be adjusted so that it grips the outer periphery of the first auxiliary jig 20.
- the center position of the workpiece when the workpiece holding means of the robot hand 2 grips the workpiece can be easily aligned with the position of the hole 5 of the first jig 6 and can be accurately positioned at that position.
- the fitting (insertion) of the pin (convex portion) 11 of the second jig 13 into the hole (concave portion) 5 of the first jig 6 is performed so as to be performed by exchanging the concave portion and the convex portion. can do.
- the fitting of the maximum diameter portion 12 of the second jig 13 to the recess 9 formed in the central portion of the work mounting table 8 deforms the recess 9 into a protrusion, and the maximum diameter portion is formed on this protrusion. It can be deformed to fit the recess formed on the bottom of 12.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNB2005800496218A CN100490108C (zh) | 2005-04-27 | 2005-04-27 | 向机器人指示工件交接位置的指示装置和指示方法 |
PCT/JP2005/007978 WO2006117840A1 (ja) | 2005-04-27 | 2005-04-27 | ロボットへのワーク受渡し位置教示装置及び教示方法 |
US11/919,208 US20100222923A1 (en) | 2005-04-27 | 2005-04-27 | Device amd method for teaching work delivery position to robot |
JP2007514412A JPWO2006117840A1 (ja) | 2005-04-27 | 2005-04-27 | ロボットへのワーク受渡し位置教示装置及び教示方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2005/007978 WO2006117840A1 (ja) | 2005-04-27 | 2005-04-27 | ロボットへのワーク受渡し位置教示装置及び教示方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006117840A1 true WO2006117840A1 (ja) | 2006-11-09 |
Family
ID=37307647
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/007978 WO2006117840A1 (ja) | 2005-04-27 | 2005-04-27 | ロボットへのワーク受渡し位置教示装置及び教示方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20100222923A1 (ja) |
JP (1) | JPWO2006117840A1 (ja) |
CN (1) | CN100490108C (ja) |
WO (1) | WO2006117840A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6148025B2 (ja) * | 2013-02-04 | 2017-06-14 | 株式会社Screenホールディングス | 受渡位置教示方法、受渡位置教示装置および基板処理装置 |
SG2013025770A (en) * | 2013-04-05 | 2014-11-27 | Sigenic Pte Ltd | Apparatus and method for detecting position drift in a machine operation using a robot arm |
JP6619947B2 (ja) * | 2015-03-31 | 2019-12-11 | Dmg森精機株式会社 | ワークローダ装置 |
CN108724200B (zh) * | 2017-04-14 | 2021-04-09 | 北京北方华创微电子装备有限公司 | 机械手系统及半导体加工设备 |
CN110231036B (zh) * | 2019-07-19 | 2020-11-24 | 广东博智林机器人有限公司 | 一种基于十字激光和机器视觉的机器人定位装置及方法 |
CN110503885A (zh) * | 2019-09-18 | 2019-11-26 | 江苏汇博机器人技术股份有限公司 | 一种可组合的工业机器人应用技能实训考核平台 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS609681A (ja) * | 1983-06-30 | 1985-01-18 | 富士通電装株式会社 | ロボツトア−ムへのテイ−チング方法 |
JPH05111886A (ja) * | 1991-10-21 | 1993-05-07 | Yaskawa Electric Corp | ロボツトマニピユレータのキヤリブレーシヨン点教示方法およびキヤリブレーシヨン作業方法 |
JPH09213772A (ja) * | 1996-01-30 | 1997-08-15 | Dainippon Screen Mfg Co Ltd | 基板保持装置 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6085125A (en) * | 1998-05-11 | 2000-07-04 | Genmark Automation, Inc. | Prealigner and planarity teaching station |
US6323616B1 (en) * | 1999-03-15 | 2001-11-27 | Berkeley Process Control, Inc. | Self teaching robotic wafer handling system |
JP2001210692A (ja) * | 2000-01-26 | 2001-08-03 | Ebara Corp | ティーチングの方法 |
JP3920587B2 (ja) * | 2001-04-16 | 2007-05-30 | 東京エレクトロン株式会社 | 基板搬送手段のティーチング方法 |
JP2004276151A (ja) * | 2003-03-13 | 2004-10-07 | Yaskawa Electric Corp | 搬送用ロボットおよび搬送用ロボットの教示方法 |
US6934606B1 (en) * | 2003-06-20 | 2005-08-23 | Novellus Systems, Inc. | Automatic calibration of a wafer-handling robot |
JP4064361B2 (ja) * | 2004-03-15 | 2008-03-19 | 川崎重工業株式会社 | 搬送装置の搬送位置の位置情報取得方法 |
-
2005
- 2005-04-27 JP JP2007514412A patent/JPWO2006117840A1/ja active Pending
- 2005-04-27 WO PCT/JP2005/007978 patent/WO2006117840A1/ja active Application Filing
- 2005-04-27 CN CNB2005800496218A patent/CN100490108C/zh not_active Expired - Fee Related
- 2005-04-27 US US11/919,208 patent/US20100222923A1/en not_active Abandoned
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS609681A (ja) * | 1983-06-30 | 1985-01-18 | 富士通電装株式会社 | ロボツトア−ムへのテイ−チング方法 |
JPH05111886A (ja) * | 1991-10-21 | 1993-05-07 | Yaskawa Electric Corp | ロボツトマニピユレータのキヤリブレーシヨン点教示方法およびキヤリブレーシヨン作業方法 |
JPH09213772A (ja) * | 1996-01-30 | 1997-08-15 | Dainippon Screen Mfg Co Ltd | 基板保持装置 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2006117840A1 (ja) | 2008-12-18 |
CN100490108C (zh) | 2009-05-20 |
CN101167175A (zh) | 2008-04-23 |
US20100222923A1 (en) | 2010-09-02 |
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