Substrate transporter

In a robot comprising a controller, one or more actuators configured to be activated by the controller, one or more encoders configured to track the position of the one or more actuators, and one or more mechanical components configured to transform the movement of the one or more actuators into a desired movement of the robot, comprising:

• a) initiating the desired movement of the robot with the controller;
• and
• b) ceasing the desired movement of the robot with the controller,
• wherein a control cycle of the controller includes comparing an encoder position determined from one or more of the encoders to a theoretical position as determined by a theoretical motion profile and applying a signal to a corresponding one or more of the actuators with the controller to correct for a deviation between the encoder position and the theoretical position.

A nontransitory computer readable medium containing program instructions for producing the desired movement of a robot, wherein the robot comprises a controller, one or more actuators configured to be activated by the controller, one or more encoders configured to track the position of the one or more actuators, and one or more mechanical components configured to transform the movement of the one or more actuators into a desired movement of the robot, and wherein execution of the program instructions by one or more processors of a computer system causes the one or more processors to carry out the steps of:

• a) initiating the desired movement of the robot with the controller;
• and
• b) ceasing the desired movement of the with the controller,
• wherein a control cycle of the controller includes comparing an encoder position determined from one or more of the encoders to a theoretical position as determined by a theoretical motion profile and applying a signal to a corresponding one or more of the actuators with the controller to correct for a deviation between the encoder position and the theoretical position.