Hi,
At my job, we are currently designing a multi-robot cell in which two manipulators will work in synchrony. Since we have experience with different robot manipulators, I took the initiative to learn a bit about the various forms that each brand (KUKA, ABB, Yaskawa, etc) allows communication with its own robots.
KUKA solution consists in using their package Roboteam which provides a flexible setup with just their two robot controller. Thus it seems simple to switch from controlling one individual robot to the multi-robot cell. In theory, with RSI it would make it possible to make small corrections to the path that is being conducted, which would make it a very appellative setup.
Yet, the integration RSI+Roboteam does not seem to be very clear, at least to me. The RSI manual explains that only IPO (12ms communication) is possible on the slave robot, yet, that is pretty much it, it does not go into much more detail.
Is there anyone with some experience with a RSI+Roboteam setup that could provide some feedback? For example, does RSI control two groups of axes individually, or is it one purely following the other? In other words, are the corrections targeting the slave side dependent on the master controller?
Thanks in advance