Patent ID: 7860609

Claim:
A system for motion synchronization and coordination of a family of robots including at least two robot arms comprising: a master robot arm connected to a master controller having a data area in which robot family information is stored; at least one slave robot arm connected to a slave controller having a data area in which said robot family information is stored; a network connection between said master controller and said at least one slave controller for transmitting signals; and a master program stored in said data area of said master controller and a slave program stored in said data area of said at least one slave controller, said master program and said slave program each containing program instructions to be executed for coordinated operations of said master robot arm and said at least one slave robot arm respectively, wherein said robot family information identifies said master robot arm and said at least one slave robot arm as members of a robot family for execution of each of the program instructions to perform the coordinated operations with motion synchronization, and wherein in response to a first said program instruction having a first motion duration to be performed by said master robot arm in motion synchronization with a second said program instruction having a second motion duration to be performed by said slave robot arm, said first and second motion durations being different, said master program changes a shorter one of said first and second motion durations to a longer one of said first and second motion durations whereby said master robot arm and said at least one slave robot arm start and stop motion according to said first and second program instructions with a common duration.