Method and apparatus for the synchronous control of manipulations

An apparatus for the synchronous control of a manipulator;

• in a group of interconnected control units of a plurality of manipulators, comprising:
• storage means at least for storing a control program for the manipulator,
• communication means for transmitting and receiving control information to or from other control units to be synchronized and
• processor means for executing the control program as a function of the control information received,
• wherein
• the storage means additionally store a plurality of control relevant data structures,
• the control data contained in the data structures clearly identify synchronization points in the control program and the control units to be synchronized,
• the control information are transmitted essentially at times at which at least one of said control units to be synchronized and the corresponding manipulator reach any one of said of reaching synchronization points, and
• the program sequence in the processor means or a corresponding movement of the manipulator, according to the control data contained in the data structures in conjunction with already exchanged control information can be continued or can be stopped at least up to the reception of corresponding control information from other control units to be synchronized.