Real-time synchronisation method in multi-robot system

Abstract

There is an increasing need for manufacturing systems to produce batches in small quantities. Such manufacturing systems are significantly difficult to develop with conventional automation equipment. Recently, several research groups have applied industrial dual-arm robots to cell production lines. A synchronisation method for robots is necessary for the cell production process when robots work in a shared workspace. Conventional automation factories do not need this method because the main control system operates all machines or robots. However, the intended application for the developed robot is in small manufacturing environments which cannot install an expensive main control system. An inexpensive and high-performance method with a simple digital in/out channel using EtherCAT is proposed. The developed method was validated for practical use on a cell production line.