Providing conditions for joint operation of multiple robots
By using RCML, the developer can use multiple robots to execute the task set, while specifying actions of a certain robot with respect to the actions of another robot.
This provides a number of opportunities for joint operation of robots:
1.Sending in-sync commands to the robots
Within the specific operating system capabilities and robot design, a programmer can implement synchronous and parallel operation of robots or at least simultaneous receipt of commands by them.
- One robot is not able to move the load. In this case, a programmer can use several machines to move the load, by simultaneously sending the command to move or stop to the robots or so as the robots move smoothly and simultaneously.
- Assembly of components of some structures may require the robots to perform not identical actions but actions starting simultaneously that can be achieved in this mode of operation.
2. Asynchronous parallel execution of tasks by robots
Where possible, the developer can implement the distribution of tasks between the executive units, organizing their parallel execution in relation both to each other and to the main process.
This parallel execution is asynchronous and can be used to accelerate the process including mutually independent steps. This can be effective in solving technological tasks where the sequence of any intermediate actions of robots is not important.
- Paint works of cabinets can be executed asynchronously, but with separation of work site for each robot involved in the process.
- Automatic robotized welding of steel structures by a robot that inserts a blank into tooling and a robot performing welding. When using two conductors for welding, it may be executed in parallel in a single conductor with respect to inserting or extracting of parts from another conductor.
3. Interdependence of actions of robots in the group
When writing a program in RCML, the developer can determine how one robot should operate with respect to the result of actions of another robot. However, to obtain the effect of interdependence of machine actions in the general process, these actions should be executed in a sequential (serial) mode.
- Joining of two parts with a bolt and a nut. Two robots are involved in one assembly process. The robot screwing the nut on the bolt must not start performing his functions until another robot inserts a bolt in the specified hole.
- Laying a cable in a trench. Two robots are also engaged in the process: a robot laying the cable, and a robot digging the trench. The first one can not and must not lay another meter of cable, until the second robot digs another meter of the trench for the above cable segment.