Patent ID: 8909372

Claim:
A method of controlling a robot system, wherein said robot system includes a first robot which is coupled to a first electrode and a second robot which is coupled to a second electrode, the method comprising the steps of: welding with the first electrode and simultaneously welding with the second electrode one test piece multiple times, wherein during each of the times as the first electrode and the second electrode simultaneously generate respective arcs and weld, the first robot and the second robot move and have respectively different physical positions relative to each other and therefore the first electrode and the second electrode have respectively different physical positions relative to each other in order to create a plurality of respectively different physical positions of the first robot and the second robot relative to each other for each of the multiple times; selecting one of the plurality of respectively different physical positions relative to each other as a welding position; using a microprocessor, placing the first robot with the first electrode into the welding position to begin welding a welding piece; placing the second robot with the second electrode into the welding position to begin welding the welding piece, wherein the second robot is placed into the welding position based on relative position of the first robot; moving the first robot with the first electrode and the second robot with the second electrode along a route to weld the welding piece, wherein as the second robot moves the second electrode, the second robot is maintained in the welding position based on relative position of the first robot, and the second electrode is maintained in the welding position based on relative position of the first electrode; and welding the welding piece using the first robot with the first electrode and the second robot with the second electrode during the moving.