# US 11,110,606 B2 · Coordinating work within a multi-robot cell > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,110,606 B2 - Document ID: US11110606B2 - Status: Granted - Kind: B2 - Application number: 16/237,880 - Filed: 2019-01-02 - Published: 2020-07-02 - Granted: 2021-09-07 - Earliest claimed: 2019-01-02 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: Samuel F Pedigo; Veniamin Tereshchuk - Web page: https://patentgrep.com/patent/US11110606B2 ## CPC - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - B25J 9/0084: {comprising a plurality of manipulators} - G05B 19/41815: {characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell} - G05B 2219/34348: Coordination of operations, different machines, robots execute different tasks - G05B 2219/39121: Two manipulators operate on same object - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract Systems and methods are provided for robot control. One embodiment is a method for coordinating operations of robots performing work on a part. The method includes assigning a group of robots to a part, initiating work on the part via the group of robots, determining that a robot within the group is unable to continue performing work at a first location of the part, removing the robot from the group while other robots of the group continue performing the work, adding a functioning robot to the group at a second location that the robot is scheduled to occupy, and continuing work on the part via the group of robots. ## Claims ### Claim 1 A method for coordinating operations of robots performing work on a part, the method comprising: assigning a group of robots to a part; initiating work on the part via the group of robots; determining that a first robot within the group is unable to continue performing work at a first location of the part; removing the first robot from the first location and the group while other robots of the group continue performing the work; adding a functioning robot to the group at a second location of the part that the first robot was scheduled to occupy during the work; and continuing work on the part via the group of robots. ### Claim 2 (depends on 1) The method of claim 1 wherein: working on the part via the group of robots comprises performing adjustments to a kinematic chain at of each of the robots. ### Claim 3 (depends on 1) The method of claim 1 wherein: the part is subdivided into regions, and the method further comprises: subdividing each region into multiple sections; and coordinating movement of the group of robots along the sections in a manner that prevents the robots from operating at the same time in sections that are directly adjacent. ### Claim 4 (depends on 1) The method of claim 1 further comprising: identifying a schedule for the group of robots; determining volumes occupied by different robots during the work based on the schedule; comparing volumes occupied by different robots over time to detect potential collisions; and reporting any potential collisions that were detected. ### Claim 5 (depends on 1) The method of claim 1 further comprising: detecting potential collisions between robots in the group based on current positions, speeds, and tasks of robots; and reporting any potential collisions that were detected. ### Claim 6 (depends on 1) The method of claim 1 further comprising: subdividing the part into regions that are contiguous portions of the part and that do not overlap; and assigning each robot in the group to a different region of the part. ### Claim 7 (depends on 6) The method of claim 6 further comprising: moving each robot in the group through its assigned region such that robots in two adjacent regions do not occupy a shared edge of the two adjacent regions at the same time. ### Claim 8 (depends on 1) The method of claim 1 further comprising: repairing the first robot to turn the robot into the functioning robot; and continuing work on the part with the group of robots while repairing the first robot. ### Claim 9 (depends on 1) A portion of an aircraft assembled according to the method of claim 1. ### Claim 10 A non-transitory computer readable medium embodying programmed instructions which, when executed by a processor, are operable for performing a method for coordinating operations of robots performing work on a part, the method comprising: assigning a group of robots to a part; initiating work on the part via the group of robots; determining that a first robot within the group is unable to continue performing work at a first location of the part; removing the first robot from the first location and the group while other robots of the group continue performing the work; adding a functioning robot to the group at a second location of the part that the first robot was scheduled to occupy during the work; and continuing work on the part via the group of robots. ### Claim 11 (depends on 10) The medium of claim 10 wherein: working on the part via the group of robots comprises performing adjustments to a kinematic chain at of each of the robots. ### Claim 12 (depends on 10) The medium of claim 10 wherein the method further comprises: the part is subdivided into regions, and the method further comprises: subdividing each region into multiple sections; and coordinating movement of the group of robots along the sections in a manner that prevents the robots from operating at the same time in sections that are directly adjacent. ### Claim 13 (depends on 10) The medium of claim 10 wherein the method further comprises: identifying a schedule for the group of robots; determining volumes occupied by different robots during the work based on the schedule; comparing volumes occupied by different robots over time to detect potential collisions; and reporting any potential collisions that were detected. ### Claim 14 (depends on 10) The medium of claim 10 wherein the method further comprises: detecting potential collisions between robots in the group based on current positions, speeds, and tasks of robots; and reporting any potential collisions that were detected. ### Claim 15 (depends on 10) The medium of claim 10 wherein: subdividing the part into regions that are contiguous portions of the part and that do not overlap; and assigning each robot in the group to a different region of the part. ### Claim 16 (depends on 14) The medium of claim 14 wherein the method further comprises: moving each robot in the group through its assigned region such that robots in two adjacent regions do not occupy a shared edge of the two adjacent regions at the same time. ### Claim 17 (depends on 10) The medium of claim 10 wherein the method further comprises: repairing the robot to turn the first robot into the functioning robot; and continuing work on the part with the group of robots while repairing the first robot. ### Claim 18 (depends on 10) A portion of an aircraft assembled according to the method defined by the instructions stored on the computer readable medium of claim 10. ### Claim 19 An apparatus for coordinating operations of robots performing work on a part, the apparatus comprising: a controller that is configured to assign a group of robots to a part; and an interface that is configured to receive updates indicating work performed on the part via the group of robots; the controller is configured to determine that a first robot from the group is unable to continue performing work at a first location of the part, direct removal of the first robot from the first location and the group while other robots of the group continue performing work on the part, add a functioning robot to the group at a second location of the part that the first robot was scheduled to occupy during the work, and direct the group to continue work on the part via the robots. ### Claim 20 (depends on 19) Fabricating a portion of an aircraft using the apparatus of claim 19.