| 摘要 |
A method for the synchronous control of a plurality of handling devices, such as industrial robots, is characterized in that a control command to be implemented by controls of the handling devices participating in a synchronization is initiated on a random control and is subsequently further processed therein as a function of the nature of the command. An apparatus suitable for performing the method according to the invention has storage means for storing a control program for the particular handling device, input means for initiating a control command to be distributed for synchronization purposes, transmitting means for transmitting an initiated command to other controls participating in a synchronization, receiving means for receiving a command transmitted by another participating control, processing means for processing the control program in accordance with the control command and optionally for checking the initiated or received command and decision means for blocking or unblocking the transmission and/or for ordering a solely local implementation of an initiated control command.
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