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System and method of controlling a robot

  • US 10,406,684 B2
  • Filed: 09/01/2015
  • Issued: 09/10/2019
  • Est. Priority Date: 04/30/2015
  • Status: Active Grant
First Claim
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1. A system for controlling a robot moving vertically and horizontally using a motor, the system comprising:

  • a controller for generating a control command;

    a driver for driving the motor to move the robot comprising a blade, in response to the control command; and

    a detector suitable for generating a feedback signal by detecting physical status of the motor;

    wherein the robot is configured to accelerate and decelerate to a first location during a first speed interval, move to a second location with a constant speed during a second speed interval, and accelerate and decelerate to a target location during a third speed interval,wherein the first speed interval, the second speed interval, and the third speed interval occur in sequence,wherein the controller is configured to detect whether or not a substrate is loading on the robot based on the feedback signal during the second speed interval beginning at a first time and ending at a second time, and generate the control command in accordance with the detection of the loading of the substrate during the second speed interval at the second time, andwherein the controller is configured to detect whether or not a substrate is loading on the robot based on change of the feedback signal according to quiver of the blade due to one of a weight, a size of the substrate when the substrate is loaded on the blade of the robot.

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