| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot cooperative control system which can prevent any deviation of the operation of each robot while maintaining a plurality of control devices in a constantly synchronous manner with each other. SOLUTION: This robot cooperative control system comprises a plurality of control devices Ca and Cb to individually control the operations of a plurality of robots Ra and Rb, a communication connecting means 21 to constitute a network by connecting the control devices Ca and Cb in a communicable manner with each other, input means 37a and 37b which are provided for each of the control devices Ca and Cb to input the operational command of the robots Ra and Rb, and timing generating means 69a and 69b. The control devices Ca and Cb are selectively set to be in any one of the single function execution mode, the master function execution mode, and the slave function control mode. The control device Ca to be master-operated among the control devices Ca and Cb is set to be in the master execution mode, and the remaining control device Cb is set in a slave function execution mode. The cooperative operation is performed by delaying the control times ta11, ta12 and ta13 to the master robot Ra of the master side control device Ca by the predetermined time T while correcting the minimum interruption period Ts (b) of the slave side control device Cb.
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