| 摘要 |
The present invention is an apparatus and method for automatically realigning an end effector of an automated equipment after an undesired contact of the end effector to prevent a crash of the end effector. The present invention includes a plurality of contact detectors, and each of the contact detectors is disposed at a respective location with respect to the end effector. In addition, each of the contact detectors generates a respective signal for indicating direction of force on the end effector that results from the undesired contact. Furthermore, the present invention includes an end effector controller that is coupled to the plurality of contact detectors and to the end effector. The end effector controller causes the end effector to move to a reset position after the undesired contact when any of the respective signals from the plurality of contact detectors is greater than a predetermined level. The reset position includes a respective positional off-set that corresponds to the direction of the force on the end effector that results from the undesired contact as indicated by which of the respective signals is greater than the predetermined level. In one aspect of the present invention, a carrier holds the end effector and allows movement of the end effector along the direction of the force on the end effector from the undesired contact. Such movement minimizes the stress of force on the end carrier and on the part with which the end effector has made undesired contact. In that aspect of the present invention, the direction of the force on the end effector is determined from direction of the movement of the end effector during the undesired contact. By automatically realigning the end effector after an undesired contact, a crash of the end effector is prevented.
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