{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,28]],"date-time":"2026-01-28T19:53:40Z","timestamp":1769630020848,"version":"3.49.0"},"reference-count":19,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2023,10,16]],"date-time":"2023-10-16T00:00:00Z","timestamp":1697414400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China","award":["U20A20197"],"award-info":[{"award-number":["U20A20197"]}]},{"name":"National Natural Science Foundation of China","award":["2020JH2\/10100040"],"award-info":[{"award-number":["2020JH2\/10100040"]}]},{"name":"Provincial Key Research and Development for Liaoning","award":["U20A20197"],"award-info":[{"award-number":["U20A20197"]}]},{"name":"Provincial Key Research and Development for Liaoning","award":["2020JH2\/10100040"],"award-info":[{"award-number":["2020JH2\/10100040"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper studies the AWC (Active Wafer Centering) algorithm for the movement control and wafer calibration of the handling robot in semiconductor manufacturing to prevent wafer surface contact and contamination during the transfer process. The mechanical and software architecture of the wafer-handling robot is analyzed first, which is followed by a description of the experimental platform for semiconductor manufacturing methods. Secondly, the article utilizes the geometric method to analyze the kinematics of the semiconductor robot, and it decouples the motion control of the robot body from the polar coordinates and joint space. The wafer center position is calibrated using the generalized least-square inverse method for AWC correction. The AWC algorithm is divided into calibration, deviation correction, and retraction detection. These are determined by analyzing the robot\u2019s wafer calibration process. In conclusion, the semiconductor robot\u2019s motion control and AWC algorithm are verified through experiments for correctness, feasibility, and effectiveness. After the wafer correction, the precision of AWC is &lt;\u00b1 0.15 mm, which meets the requirements for transferring robot wafers.<\/jats:p>","DOI":"10.3390\/s23208502","type":"journal-article","created":{"date-parts":[[2023,10,17]],"date-time":"2023-10-17T08:25:09Z","timestamp":1697531109000},"page":"8502","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Research on Motion Control and Wafer-Centering Algorithm of Wafer-Handling Robot in Semiconductor Manufacturing"],"prefix":"10.3390","volume":"23","author":[{"given":"Bing-Yuan","family":"Han","sequence":"first","affiliation":[{"name":"College of Information and Electrical Engineering, China Agricultural University, Beijing 110819, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8397-7260","authenticated-orcid":false,"given":"Bin","family":"Zhao","sequence":"additional","affiliation":[{"name":"SIASUN Robot & Automation Co., Ltd., Shenyang 110168, China"}]},{"given":"Ruo-Huai","family":"Sun","sequence":"additional","affiliation":[{"name":"SIASUN Robot & Automation Co., Ltd., Shenyang 110168, China"},{"name":"School of Information Science & Engineering, Northeastern University, Shenyang 110819, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,10,16]]},"reference":[{"key":"ref_1","unstructured":"Xie, D.M. 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