Method and control system for controlling a plurality of robots

A method for controlling a system of a plurality of robots, said system further comprising:

• a plurality of controllers, each having an associated motion system controlling attached robots;
• at least one of said controllers having at least one motion instruction source;
• and
• a computer network over which said controllers communicate;
• wherein at least one first controller of said plurality of controllers sends a commanded position of its a attached robot over said network;
• wherein at least one second controller of said plurality of controllers receives said commanded position over said network from said first controller;
• wherein said second controller defines at least one first robot reference frame with a fixed position relative to some point on said attached robot of said first controller (independent reference frame) and at least one second robot reference frame with a fixed position relative to some point on said attached robot of said so controller;
• wherein said second controller by using said commanded position maintains a spatial transformation relationship (dependency relationship) between said second robot reference frame (dependent reference frame) and said independent reference frame by moving its an attached robot to maintain said transformation relationship;
• and wherein said dependency relationship is defined by a motion instruction source of said second controller.

A method for controlling a system of a plurality of robots, said system farther comprising:

• a plurality of controllers, each having an associated moon system controlling attached robots;
• at least one of said controllers having at least one motion instruction source;
• and
• a computer network over which said controllers communicate;
• wherein at least one first controller of said plurality of controllers sends a commanded position of its A attached robot over said network;
• wherein at least one second controller of said plurality of controllers receives said commanded position over said network from said first controller;
• wherein said second controller defines at least one first robot reference frame with a fixed position relative to some point on said attached robot of said first controller (independent reference frame) and at least one second robot reference frame with a fixed position relative to some point on said attached robot of said second controller;
• wherein said second controller by using said commanded position maintains a spatial transformation relationship (dependency relationship) between said second robot reference frame (dependent reference frame) and said independent reference frame by moving an attached robot to maintain said transformation relationship;
• wherein said dependency relationship is defined by a motion instruction source of said second controller;
• wherein further an associated clock in each controller produces timing information based on a temporal reference frame;
• wherein a system for supplying a synchronizing signal to said controllers periodically aligns said temporal reference frames of said clocks;
• and wherein said controllers use said clocks to control said associated motion systems such that said attached robots controlled by said motion systems operate with clock-alignment.

A system for controlling a plurality of robots, said system comprising:

• a plurality of motion controllers, each of said plurality of motion controllers having an associated motion system controlling an attached robot, with each of said motion controllers receiving motion instructions from at least one motion instruction source;
• and
• a computer network over which said controllers communicate;
• wherein said control program is arranged for defining and executing a uniquely labeled time coordinated motion instruction for communicating information among said plurality of controllers;.and
• wherein said controllers are arranged for synchronized execution of like labeled time coordinated motion instructions such that said instructions execute in such a way that they jointly begin at a first time, follow a common relative velocity profile, and jointly end at a second time.

A system for controlling a plurality of robots, said system comprising:

• a plurality of controllers, each having an associated motion system attached robots;
• at least one of said controllers, having at least one motion instruction source;
• a computer network over which said controllers communicate;
• at least one first controller of said plurality of controllers having a position sending system for sending a commanded position of said attached robots over said network;
• at least one second controller of said plurality of controllers having a position receiving system for receiving said commanded position over said network from at least one of said first controllers;
• said second controller arranged for defining at least one first robot reference frame with a fixed position relative to some point on said robot attached to said first controller (independent reference frame) and at least one second robot reference frame with a fixed position relative to some point on said robots attached to said second controller;
• said second controller arranged for maintaining a certain spatial transformation relationship (dependency relationship) between said second robot reference frame (dependent reference frame) and said independent reference frame;
• said relationship specified by sad motion instruction source of said second controller.

A system for controlling a plurality of robots, said system comprising:

• plurality of controllers, each having an associated motion system controlling attached robots;
• at least one of said controllers having at least one motion instruction source;
• a computer network over which said controllers communicate;
• at least one first controller of said plurality of controllers having a position sending system for sending a commanded position of said attached robot over said network;
• at least one second controller of said plurality of controllers having a position receiving system for receiving said commanded position over said network from at least one of said first controllers;
• said second controller arranged for defining at least one first robot reference frame with a fixed position relative to some point on said robot attached to said first controller (independent reference frame) and at least one second robot reference frame with a fixed position relative to some point on said robot attached to said second controller,
• said second controller arranged for maintaining a certain spatial transformation relationship (dependency relationship) between said second robot reference frame (dependent reference frame) and said independent reference frame,
• said relationship specified by said motion instruction source of said second controller;
• said system further comprising;
• an associated clock or each controller that produces timing information based on a temporal reference frame;
• and
• a system for supplying a synchronization signal to said controllers that periodically aligns the temporal reference frames of said clocks;
• said controllers being arranged for using said clocks to control said associated motion systems such that said attached robots controlled by said notion systems operate with clock-alignment.