Multiple robot arm tracking and mirror jog

A method for jogging multiple robots including a leader having an arm able to articulate about multiple first axes, and supporting an end effector located at an outer end of the leader arm, and a follower having an arm able to articulate about multiple second axes, comprising the steps of:

• moving the end effector to predetermined positions by jogging the arm of the leader and producing articulation about the first axes;
• recording the magnitude and direction of articulation about the first axes corresponding to movement of the end effector to said predetermined positions;
• and
• moving the arm of the follower by producing articulation about the second axes in the same respective magnitudes as the recorded articulation produced about the first axes including automatically articulating the follower arm about the second axes simultaneously with automatically articulating the leader arm about the first axes.

A method for jogging a plurality of robot arms having a jogging user interface system for jogging the robot arms simultaneously and synchronously comprising the steps of:

• assigning one robot arm as a leader;
• assigning any one of the plurality of robot aims as a follower;
• providing a controller operatively connected to the leader robot arm, the follower robot arm and the jogging user interface for controlling operation of servo motors actuating the robot arms;
• selecting a mode of jogging relating a motion of the follower robot arm to a motion of the leader robot arm;
• sending a command signal from the jogging user interface to the controller to jog the leader robot arm in a leader active frame by an incremental displacement;
• simultaneously sending a command signal from the controller to jog the follower robot arm in a follower active frame such that said follower responds to the leader's jogging movement in the leader active frame according to the selected mode of jogging, wherein jogging movements of the leader robot arm and the follower robot arm are simultaneous and synchronous.