---
publication_id: "OT-2026-000001554"
title: "Transfer system and transfer method"
published_at: "2026-09-15T19:06:38.324143Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001554"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j11/00"
  - "b25j9/1687"
  - "b25j9/1687"
  - "b25j9/1687"
  - "h10p72/3402"
  - "b25j11/00"
---

# Transfer system and transfer method

## Abstract

A transfer system includes a robot and a controller that controls an operation of the robot. The robot includes a hand that transfers a substrate, and a lift mechanism that moves up and down the hand. The hand includes a sensor that detects a distance to a lower surface of the substrate. The controller includes a storage unit, a detection unit, and a calculation unit. The storage unit stores placement information including a placement height at a placement position of the substrate. The detection unit detects a separation height at which the substrate is separated from the hand when the hand is moved down from the placement height. The calculation unit calculates a deflection amount of the substrate based on a difference between the placement height and the separation height.