Devices, systems, and methods for robotic pipe handling

A method of handling drill pipe, the method comprising:

• using a controller to control a lifting system to transfer a load of a pipe stand to the lifting system;
• and
• using a controller to control a first robot arranged on a drill floor of a drill rig and a second robot arranged at or near a racking board of the drill rig in independent and coordinated operation to engage the pipe stand with an end effector and manipulate a position of the pipe stand while the load of the pipe stand is held by the lifting system and the pipe stand is free to rotate in the end effector,
• wherein, the controller is in communication with a plurality of feedback devices and receives information from the plurality of feedback devices about the position of the pipe stand, the lifting system, the first robot, and the second robot and controls the first robot and the second robot based on the information from the plurality of feedback devices.

A drilling rig comprising:

• a drill floor configured for arranged arrangement above a well, the drill floor having an opening for accessing the well;
• a mast extending from the drill floor, the mast having a crown block arranged thereon;
• a lifting system comprising a cable reeved between the crown block and a traveling block;
• and
• a pipe handling system comprising:
• a first pipe handling robot arranged on the chill floor and configured for independent and coordinated operation with the lifting system and for engaging a pipe stand with an end effector to manipulate a position of the pipe stand while leaving the pipe stand free to rotate in the end effector;
• a second pipe handling robot arranged at or near a racking board of the drill rig and configured for independent and coordinated operation with the lifting system and the first pipe handling robot and for engaging the pipe stand with an end effector to manipulate a position of the pipe stand, while leaving the pipe stand free to rotate in the end effector;
• a plurality of feedback devices configured to provide information about a condition of the pipe stand, the lifting system, the first pipe handling robot;
• and the second pipe handling robot;
• and
• a controller in communication with the plurality of feedback devices, the controller receiving the information provided by the plurality of feedback devices, the controller further controlling operations of the first and second pipe handling robots.