Work transport control method

Abstract

A method of controlling a transport system for transporting a work from one station to another, which system includes a plurality of stations arranged in a circular row, a transport robot assembly including two manipulator arms, a main controller for controlling the transport system in its entirety relative to the transport robot assembly, and a robot controller for controlling sequential operation of the transport robot assembly. The method is practiced by causing the main controller to transmit to the robot controller a transport command for causing the transport robot assembly to transport the work; in response to the transport command, calculating the direction and angle of swivel required for each of the manipulator arms to angularly move to transport the work from one of the stations towards another one of the stations, in reference to the current position of the respective manipulator arm and the number of such one of the stations; based on a result of the calculation, selecting one of the manipulator arms that may angularly move a minimum angular distance from such one of the stations to such another one of the stations; and causing the robot controller to drive the selected manipulator arm to angularly move in the direction, in which the selected manipulator arm is permitted to travel the minimum angular distance from such one of the stations to such another one of the stations, after the work has been removed from such one of the stations.