Capabilities of 'Cooperative Motion Control' for 2 Kawasaki robots

    I have some questions about the possibilities of getting 2 Kawasaki robots to 'work together' – both model RS020N A and both with the same E controller (30E01G-AC02), and without a PLC being added to the system.

    I've seen Kawasaki have a software (or maybe it's just a functionality that can be turned on somehow) called 'Cooperative Motion Control'. It's described as the interconnection of two robots so that one is a slave to the other. The slave robot repeats the master's movements in real time. Manipulate large pieces (size and/or weight) between two robots working as if they were a single arm.

    If the slave is limited to repeating the master's movements in real time, then it's easy to appreciate that there's one 'core' program being sent to the slave and a real-time feedback to make sure both are 'in step' during the execution.

    But I think if we enter into detail there's more scope to the possibilities. In this video - https://youtube.com/shorts/j-z2i-G2Rx4?si=LiFqX0avGseucPAC – the program is not identical for each robot. Axis 1 moves in the opposite direction on each robot, as does the flange axis, but the other axes move identically in both robots.

    So it looks like ''Cooperative Motion Control' (I've assumed that's what's being used but I might be wrong) has at least slightly more scope than a strictly running a program 'identically' in both robots with real-time monitoring.

    Basically it looks like there's at least the option to selectively reverse axis rotations so a variety of 'Sym Opp' scenarios can be set up.

    But I'd like to understand if there's even more scope than that or not. Can anyone either explain it to me in detail or point me to documentation that explains it, please? :smiling_face:

    I'd also like to know if Kawasaki's 'Cooperative Motion For Arc Welding' is also something that can work without a PLC in the system, just the controllers of the two robots also dealing with the control of the extra axis.

    'Cooperative Motion For Arc Welding' is described as allowing two robots to work simultaneously on the same external axis. Welding pieces of revolution or symmetrical pieces, or long pieces reducing cycle time.

    The same questions arise here as regards what exactly can be done - ' allowing two robots to work simultaneously on the same external axis' sounds like they might be able to do completely different tasks but controlling that they're in-step with real-time feedback.

    But then bothering to say parts that can be revolved or symmetrical pieces seems to suggest it's actually limited in some ways. A bit like 'Cooperative Motion Control' but with an extra axis between the two robots.

    Again, if anyone could either explain it to me in detail or point me to documentation that explains it, I'd be grateful. :smiling_face:

  • HawkME October 28, 2023 at 12:39 PM

    Approved the thread.

    Your question would be better suited towards the OEM directly on this matter I think.

    You would benefit more by contacting Kawasaki directly as this is not an OEM forum.

    As for my experience with cooperation motion, you are not sending programs between master and slave.

    These programs have to be written in each controller.

    It is the positional data that is exchanged via an ethernet link.

    But you need to consider, the master is telling the slave, it is not monitoring the slave.

    Astor whom produced the video, are a Kawasaki partner, so they are pretty much at the same technical level as Kawasaki and they would also be worth contacting too.

    You also have this video too demonstrating cooperative motion:

    Kawasaki Robot learning to Squeeze Balls - YouTube

    Attached is the cooperative manual you may be interested in reading.

    Yes, I've had a short talk with Aitor, a robotics engineer from Larraioz, the Kawasaki Robot distributor here in Spain, and I'm trying to get as much info as possible before speaking with him again - but I think you're right and I should just get in touch with him again asap.

    I've seen your KRoset simulation of the demonstration in the video - both very impressive.

    Thanks very much for the manual - it's not offputtingly complex at first glance. Do you also have the manual for 'Cooperative Motion for Arc welding' (E Series), by any chance? :smiling_face_with_halo:

    Yes, I know Aitor......very nice guy indeed.

    I've never come across anything relating to this directly, I have never had the requirement to look into it.

    However, you have raised my curiosity :zwink: now and I've looked through available documentation and have pleasure in attaching it to this post.

    As mentioned, It's not something I've ever actively had the pleasure of dealing with but it would be an interesting journey to discuss further....... :top:

    I wonder if this is possible to demonstrate in KRoset......Hmm, you've got me intrigued now.

    Something for me to look into I think...........

    Quote from kacz0r

    Chris Booth - I have noticed You found my video of two CP robots in cooperation. this was part of the training I did for system integrator to implement robots in this application

    Paletizing steel profile with 2 Kawasaki robots

    I have some real life experience in cooperative motion so feel free to ask if any help is needed.

    Actually it would be helpful if you could share the master and slave programs from that application! Or the parts between 'MASTER' and 'ALONE on the master program and between 'SLAVE' and 'ALONE' on the slave side.
    One of the great things about your video is that it's clear to see what each axis is doing, so it should be possible to appreciate the code.
    More than anything I'm interested in how a 'non-kawasaki' workflow (Rhino/Grasshopper/HAL Robotics Framework) could be set up to get code generated ready for cooperative motion.

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