| 摘要 |
In a robot system (10) comprising a plurality of robots (20, 40) with overlapping work areas (60) a risk for collision between the robots (20, 40) exists if they are allowed to simultaneously operate within the overlapping work areas (60). A method for avoiding collisions between two robots (20, 40) in such robot system (10) comprises the steps of: providing (320) first movement information (240) related to a first robot movement (190)which is to be executed (360) by a first robot (20); retrieving (340) the first movement information (240); determining (350) for a plurality of second robot movements (210) whether they involve a risk for collision between the first and second robots (20, 40); and executing (360) one of the second robot movements (210). In a robot system (10) configured to carry out a pick and place task each robot (20, 40) oftentimes has a plurality of available robot movements that can be executed (360) depending on which item (140) to pick or at which empty place (160) to place an item (140). Information about a movement of one robot (20, 40) enables a robot controller (70, 80) of another robot (20, 40) with an overlapping work area (60) to select (330) among available robot movements an appropriate one that does not involve a risk for collision between the two robots (20, 40). |
