| 摘要 |
PROBLEM TO BE SOLVED: To accurately establish synchronization between respective robot control devices in cooperation action of a plurality of robots. SOLUTION: The robot control device has a system using the plurality of robots 4-1 to 4-3 and the plurality of robot control devices 2, 3-1, 2 for controlling the respective robots and cooperation-operating the respective robots by synchronizing them to a control period set in every robot control device. The robot control device includes: a timing detection part 32 for detecting input timing of a synchronization signal produced at the predetermined timing in the control period of the robot control device 2 at a master side and input timing of a retaining signal produced at the predetermined timing in the control period of the robot control devices 3-1, 2 at a slave side; and a control part 31 for reading the timing difference of each input timing of the synchronization signal and the retaining signal after a predetermined period is passed from output of the retaining signal and varying the control period of the robot control devices 3-1, 2 at the slave side based on the timing difference. COPYRIGHT: (C)2011,JPO&INPIT |
