Method for simultaneous operation of robot welders

A method of operating a first robot and a second robot to avoid a collision between said robots, comprising the steps of:

• authorizing said first robot to begin execution of a first predetermined procedure, said first predetermined procedure having a plurality of stop points;
• authorizing said second robot to begin execution of a second predetermined procedure, said second predetermined procedure having a plurality of stop points;
• receiving a signal that said first robot has reached a predetermined stop point in said first predetermined procedure;
• receiving a signal that said second robot has reached a predetermined stop point in said second predetermined procedure;
• authorizing said first robot to proceed to a next predetermined stop point in said first predetermined procedure;
• waiting for a signal that said first robot has reached said next predetermined stop point;
• receiving said signal that said first robot has reached said next predetermined stop point;
• and
• authorizing said second robot to proceed to a next predetermined stop point in said second predetermined procedure.

A method for programming a first robot and a second robot to avoid collisions between said robots, comprising the steps of:

• specifying a desired zone of operation for said first robot and a desired zone of operation for said second robot;
• developing a job for each of said robots, said jobs instructing said robots how to reach said desired zones;
• visually identifying critical points in said jobs;
• manually inserting a stop point at each said critical point in said jobs;
• specifying resume conditions for said stop points;
• storing said jobs with said stop points;
• and
• authorizing said robots to begin execution of said jobs.

A method of operating a first robot and a second robot to avoid a collision between said robots, comprising the steps of:

• authorizing said first robot to begin execution of a first predetermined procedure, said first predetermined procedure having a plurality of stop points;
• authorizing said second robot to begin execution of a second predetermined procedure, said second predetermined procedure having a plurality of stop points;
• receiving a signal that said first robot has reached a predetermined stop point in said first predetermined procedure;
• receiving a signal that said second robot has reached a predetermined stop point in said second predetermined procedure;
• and
• authorizing both said first robot and said second robot to simultaneously proceed to next stop points.

A method of programming a robot to avoid distortion of an object, said robot having a program for performing a plurality of operations on said object, said method comprising:

• determining the location on said object of a first operation to be performed;
• determining the location on said object of a second operation to be performed;
• determining the location on said object of a third operation to be performed;
• determining whether said first location is sufficiently close to said second location that performance of said first operation and said second operation consecutively will cause distortion of said object;
• and
• if said performance will cause said distortion then altering said program to cause said robot to perform said third operation between performance of said first operation and performance of said second operation.

A method of programming a first robot and a second robot to avoid distortion of an object, each said robot having a program for performing a plurality of operations on said object, said method comprising:

• determining a first location on said object of a first operation to be performed by said first robot;
• determining a second location on said object of a second operation to be performed by said second robot;
• determining whether said first location is sufficiently close to said second location that simultaneous performance of said first operation and said second operation will cause distortion of said object;
• and
• if said simultaneous performance will cause said distortion then altering said program of said first robot to cause said first robot to perform a third operation while said second robot is performing said second operation.

A method of programming a first robot and a second robot to avoid distortion of an object, each said robot having a program for performing a plurality of operations on said object, said method comprising:

• determining a first location on said object of a first operation to be performed by said first robot;
• determining a second location on said object of a second operation to be performed by said second robot;
• determining whether said first location is sufficiently close to said second location that simultaneous performance of said first operation and said second operation will cause distortion of said object;
• and
• if said simultaneous performance will cause said distortion then altering said program of said first robot to cause said first robot to perform an operation at a third location while said second robot is performing said second operation.

A method of programming a first robot and a second robot to avoid distortion of an object, each said robot having a program for performing a plurality of operations on said object, said method comprising:

• determining a first location on said object of a first operation to be performed by said first robot;
• determining a second location on said object of a second operation to be performed by said second robot;
• determining whether said first location is sufficiently close to said second location that consecutive performance of said first operation and said second operation will cause distortion of said object;
• and
• if said consecutive performance will cause said distortion then altering said program of said first robot to cause said first robot to perform a third operation after said second robot has performed said second operation, and to cause said first robot to perform said first operation after said first robot has performed said third operation.

A method of programming a first robot and a second robot to avoid distortion of an object, each said robot having a program for performing a plurality of operations on said object, said method comprising:

• determining a first location on said object of a first operation to be performed by said first robot;
• determining a second location on said object of a second operation to be performed by said second robot;
• determining whether said first location is sufficiently close to said second location that consecutive performance of said first operation and said second operation will cause distortion of said object;
• and
• if said consecutive performance will cause said distortion then altering said program of said first robot to cause said first robot to perform a third operation at a third location after said second robot has performed said second operation, and to cause said first robot to perform said first operation after said first robot has performed said third operation at said third location.