Multi-arm robotic painting process synchronization

A method of synchronizing at least two painting robots to process a part that is moving along a conveyor comprising the steps of:

• creating for each of the painting robots a master sequence of computer program instructions for a collision-free movement of each of the painting robots along an associated master sequence path relative to the part moving along the conveyor, each of the master sequence paths including positions of the associated painting robot and the conveyor at pre-defined synchronization points, each of the synchronization points being a selected motion line in the master sequence;
• running each of the master sequences on a controller connected to the associated painting robot to move the associated painting robot;
• comparing a current path of the associated painting robot and the conveyor against the master sequence path;
• operating the controllers to adjust the current paths based on the comparison between the master sequence path and the current path by writing to the master sequences of computer program instructions;
• and
• operating the controllers to request a conveyor motion hold as necessary to facilitate synchronization between movement of the painting robots and the conveyor.