Apparatus and method for coordinated control of at least two parallel kinematic system - robots

摘要

It is an arrangement (10) is disclosed, the at least two located in close proximity to each other parallel kinematic system - robot (12a, 12b), the working regions overlap one another and form an overlapping entire work area, with a greater surface and / or covers a larger volume than the individual working regions of each of the parallel kinematic system - robot (12a, 12b). The movement control of in each case on manipulating arms (20) of the at least two parallel kinematic system - robot (12a, 12b) movably suspended manipulators (16) or tool carriers (26) for the formation of an inside of the total are matched to the work area of movement and - and / or handling profile and / or to avoid collisions of the respective setting arms (20), manipulators (16) and / or of the tool carrier (26) adapted to one another and / or with a mutual into account the control commands for the movements of the respective other manipulator (16) or of the tool carrier (26) coupled to one another.In addition, the invention relates to a method for using and control of at least two located in close proximity to each other parallel kinematic system - robots (12a, 12b), whose working regions overlap one another and form an overlapping entire work area.