This interface demonstrates the translation of the Cartesian coordinate system typically used in computer systems to a polar coordinate system employed by an industrial robot. UAT was the recipient of five wafer handling robots in 2008. These Genmark Automation GP9 robots weigh in at nearly 200lb each and were designed specifically to move silicon wafers through a circular work area in a vacuum. The robot's arm is restricted to a 500 degree rotation around a center column, a +-12.5" extension of the arm, and a 3" vertical stroke of the column. Movements commands are issued over a serial interface to the robot's controller.

  1. Visual Studio Source (ZIP)