COOPERATIVE MOTION CONTROL METHOD FOR TWO ROBOTS AND CONTROLLER

摘要

PURPOSE:To facilitate the extent of programming by changing the motion control of a dependent motion robot over the such cooperative motion control that will not check any operation of a main motion robot from working motion control up to that point, in conformity with a main cause that a physical action detecting means for the dependent motion robot has detected a physical action due to interference with the main motion robot. CONSTITUTION:Two robots 1, 2 are apportioned to a main motion robot 1 and a dependent motion robot 2 in an order of precedence. Next, in conformity with a main cause that a physical action detecting means belonging to the dependent motion robot 2 has detected a physical action of the main motion robot 1, motion control of the dependent motion robot 2 is changed over to such cooperative motion control that is made so as not to check any operation of the main motion robot 1. With this constitution, these two robots 1, 2 are subjected to cooperative operation without synchronizing the program of a computer 11 controlling these robots 1, 2.