The communication and action pacing among robot controller, shelf feed robot controller , feed automechanism controller and work table controller are discussed and solved.

• 在完成了系统电气部分设计及控制系统设计的基础上,编制了满足工艺要求的横梁焊接软件,进行了焊接机器人的轨迹规划及计算机仿真。