SYNCHRONOUS CONTROL OF MULTIROBOT SYSTEM AND ITS DEVICE

摘要

PURPOSE: Not to cause wasteful waiting time even to a work not supplied in a constant cycle by providing each of robots with a cycle numberand synchronizing the robot corresponding to the cycle number. ;CONSTITUTION: Synchronization to a clock is limited only to a required part, and even in the case when a work 101 to be supplied is delayed, a robot on the upstream waits until it is supplied and then it is restarted, a robot group 103 on the downstream carrying a preceding work synchronizes with the clock of that part only in a system of the robot group on the downstream and carries on carriage. By devising to create a plural number of synchronous states in the system in this way, work carriage is realized without causing wasteful waiting time even to the work 101 which is not always supplied in a constant cycle.;COPYRIGHT: (C)1993,JPO&Japio