Controlling a robot fleet

Abstract

Method for controlling a robot group comprising a lead robot (10) and at least one follower robot (20, 30), wherein the follower robot (20, 30) moves in dependence on the lead robot and a target movement of the follower robot (20, 30) is predetermined relative to a robot-fixed reference system of the lead robot, characterized in that a current speed of the lead robot is determined on the basis of a predetermined limitation (v max ) a speed of the follower robot is reduced (S130).

Description

The present invention relates to a method, in particular a computer-implemented method, and to a system for controlling a robot layout having a guide robot and at least one follower robot, which moves as a function of the guide robot, and to a computer program and a computer program product for, in particular computer-assisted, carrying out the method.In practical in-house use, it is known in robots to monitor an actual speed, for example a Cartesian absolute speed of a TCP (tool center point). Furthermore, it is already known from in-house practice to reduce a setpoint speed of the robot on the basis of a monitored speed limit in such a way that the actual speed as far as possible does not damage this monitored speed limit, in particular in order thus to avoid an undesired stop of the robot as a result of the (triggering of) monitoring.On the other hand, it is also known from in-house practice to specify a setpoint movement of a robot relative to a robot-fixed reference system of another robot, so that the one robot moves as a function of the other robot, for example in order to carry out machining operations by the one robot on a work surface moved by the other robot, as shown in FIG. 1, or the like.However, due to the superposition of the relative movement of the one robot and the guiding movement of the other robot, the above-described undesired triggering of the monitoring of the absolute speed of the one robot may occur.From WO 2014 / 148032 A1 a method for controlling a robot system is known, in which a second transformation matrix is generated and stored in a master robot, which represents the positional relationship between a first and a second slave robot, wherein the master robot instructs the second slave robot on the basis of a second command obtained using a first transformation matrix and the second transformation matrix, and the first and second slave robots perform a cooperative operation with the master robot.It is an object of the present invention to improve the operation of a robot system having a guide robot and at least one follower robot which moves as a function of the guide robot.This object is achieved by a method having the features of claim 1. Claims 8 to 10 protect a system, a computer program or a computer program product for carrying out a method described here. The dependent claims relate to advantageous refinements.According to one embodiment of the present invention, a robot layout has a first robot, which is referred to below as a guide robot without limiting generality, and one or more (second, third, etc.) further robots, which move as a function of the guide robot or are set up, in particular programmed, for this purpose, the desired movement of which are, in particular in a development, (in each case) predefined relative to a robot-fixed reference system of the guide robot, and which are therefore referred to below as subsequent robots without limiting generality. The robot assembly comprising two or more individual robots can also be referred to as a robot arrangement.In a development, the guide robot can be a master robot, the desired movement of which is (predetermined) independently of a movement of other robots of the dressing.In another development, the guide robot can in turn be a follow-up robot which moves or is set up, in particular programmed, as a function of another (still) higher-ranking guide robot, the desired movement of which is or is predetermined, in particular relative to a robot-fixed reference system of another (still) higher-ranking guide robot. Accordingly, in a development, conversely, a follower robot can in turn be a guide robot for other follower robots of (still) lower order, which move as a function of this guide robot or are set up, in particular programmed, for this purpose, the desired movement of which is or are in particular (in each case) predetermined relative to a robot-fixed reference system of this robot.In one embodiment, the guide robot or its controller transmits (in each case) its pose and / or movement, in particular its current and / or future desired and / or actual pose and / or movement, to the following robot or its controllers, or is configured for this purpose, so that they can (can) move (determine) their, in particular absolute, desired pose and / or movement, or can execute their predefined relative movement, in particular on the basis of this pose or (guide) movement and the desired movement predefined relative to the robot-fixed reference system of the guide robot.In this case, a desired movement of a follower robot, which is predetermined relative to the robot-fixed reference system of the guide robot, can in particular also be at least temporarily at a standstill or the follower robot can at least temporarily, so to speak, rigidly follow the guide robot. In one embodiment, the following robot or robots execute the movement(s) predefined relative to the robot-fixed reference system of the guide robot during operation of the robot system or move or move in a predefined manner depending on a (guide) movement of the guide robot.In one embodiment, one or more robots of the robot system (respectively) have at least six, in particular at least seven, joints or (movement) axes and, in particular, electric motor drives of these axes. Robots of the robot system can be, in particular, industrial robots and / or articulated arm robots.According to one embodiment of the present invention, a speed of the guide robot, in particular a current and / or absolute or relative and / or target or actual speed of the guide robot, is reduced (as required) on the basis of a predefined limitation of a speed, in particular an absolute or relative and / or actual or target speed, of at least one follower robot, in a development on the basis of predefined limitations of speeds, in particular absolute or relative and / or actual or target speeds, of two or more follower robots of the robot system.Additionally or alternatively, according to an embodiment of the present invention, a speed, in particular a current and / or relative or absolute and / or target or actual speed, of a or of the follower robot, in a development speeds, in particular current and / or relative or absolute and / or target or actual speeds, of two or more follower robots of the robot system are (in each case) reduced on the basis of a or the predefined limitation of a or of the speed, in particular of a or of the absolute or relative and / or actual or target speed, of the (respective) follower robot. In this case, it is possible for the speed of a follower robot to be reduced on the basis of direct communication between this follower robot and a further follower robot. Alternatively or additionally, it is possible that the speed of a follower robot is reduced due to an indirect communication between this follower robot and a further follower robot, wherein the indirect communication takes place via the guide robot.In an embodiment, the probability of an undesired triggering of a monitoring of a speed of one or more subsequent robots can thereby advantageously be reduced. In particular, the triggering of the safety monitoring of one of the robots contained in the robot group can be avoided, for example in the case that all robots should not exceed a maximum absolute speed, in particular during the programming and during the testing of the program sequence, at which an absolute speed of approximately 250 mm / s should preferably not be exceeded, in order to avoid injury to people in the workspace of one of the robots.One or more speeds mentioned here can each comprise, in particular be, in particular a Cartesian speed of a robot-fixed reference, in particular of the TCP, of the respective robot or components of this speed.Additionally or alternatively, one or more of the speeds mentioned here can each comprise, in particular be, in particular one or more joint or axis speeds of the respective robot.A current speed can be, in particular, a speed in a control clock (current or next to be executed), in particular an IPO clock. Accordingly, a previous speed can be, in particular, a speed in a preceding control cycle, in particular an IPO cycle, in particular a speed in a directly preceding or previous cycle or also in a further preceding or previous cycle.An absolute or absolute speed can be a speed of a robot-fixed reference with respect to an, in particular stationary, environment of the robot (dressing). That is, the absolute speed is determinable based on the movement of the TCP in the stationary coordinate system of the robot arrangement.A relative or relative speed can be, in particular, a speed, in particular a robot-fixed reference, of a robot, in particular a follower robot, with respect to or relative to a robot-fixed reference or a robot-fixed reference system of another robot, in particular a guide robot, in particular a or the speed of the desired movement of the follower robot, or of the movement of the follower robot relative to the guide robot, which is predetermined relative to the robot-fixed reference system of the guide robot. This means that the relative speed can be determined on the basis of the movement of the TCP of the following robot in the coordinate system of the TCP of the guide robot, which coordinate system is movable with respect to the fixed coordinate system of the robot arrangement, in particular with the TCP of the guide robot as the origin.A joint speed of a robot can likewise be an absolute or relative speed within the meaning of the present invention. In particular, a relative joint speed of a subsequent robot can comprise that portion of the joint speed, in particular that portion of the joint speed which corresponds to the desired movement predefined relative to the robot-fixed reference system of the guide robot.A setpoint speed can be, in particular, a commanded or predefined, in particular programmed, speed or a speed that the robot seeks to achieve, an actual speed, in particular an actual, in particular detected, in particular measured, speed of the robot.In the present case, reducing as required is understood in particular to mean reducing when a condition is present or fulfilled, in particular reducing at any rate or only if otherwise a predefined limit is exceeded or this is predicted.In one embodiment, in particular a current absolute or relative setpoint speed of the guide robot and additionally (in each case) a current relative setpoint speed or speed of the setpoint movement of the follower robot or robots specified relative to the robot-fixed reference system of the guide robot is reduced (as required) on the basis of the specified limit(s) of the absolute setpoint speed of the follower robot or robots.If, according to one embodiment of the present invention, a speed, in particular a current absolute or relative setpoint speed, of the guide robot is reduced-at least as required-on the basis of predefined limits of speeds, in particular absolute actual speeds, of two or more subsequent robots of the robot system, then, in a development, the speed of the guide robot is reduced to the smallest speed from the speeds which result on the basis of the respective predefined limits of the speed of the individual subsequent robots, for example in that a method described here is carried out in each case in pairs for the guide robot and one of the subsequent robots and then the greatest reduction determined in this case is carried out for the guide robot. In other words, a reduction of the speed(s) on the basis of the smallest reduction factor, wherein the reduction factor is greater than zero and less than or equal to 1.In one embodiment, a (predefined) limitation of a speed of a follower robot is or becomes predefinable or predefined, in particular variably or adjustably, as a function of a speed limitation of this follower robot, which is monitored in particular reliably and / or by a safety means, in particular in such a way that it is, in particular always, smaller than the monitored speed limitation itself. In a development, the predefined limit can depend linearly on the monitored speed limit, in particular be equal to a product of the monitored speed limit and a safety factor which is preferably between about 0.7 and about 0.95, further preferably between about 0.75 and about 0.9 and is in particular about 0.8. Accordingly, in one embodiment, the predefined limit is at least 70% and / or at most 95% of a speed limit monitored, in particular reliably and / or by a safety means.In this way, in particular despite or also taking account of approximation errors or the like, the monitored speed limitation can advantageously be maintained relatively reliably or the probability of triggering the monitoring of this speed limitation can be reduced.In one embodiment, the speed of the guidance robot and / or of the slave robot or robots is reduced on the basis of a prediction of a speed, in particular of a current absolute setpoint speed, of the corresponding slave robot, wherein the prediction is based in a development on one or more past speeds, in particular absolute setpoint or actual speeds, of this slave robot.As explained in the introduction, an absolute speed of a following robot results from the superposition of its relative and absolute movement of the guide robot. Therefore, the determination of an absolute speed of the follower robot may be difficult. By means of a prediction on the basis of past or preceding speeds, it is advantageously possible in particular to estimate an absolute speed of a following robot and to use the basis of the reduction of the speed(s). A predicted speed is also referred to herein as a prediction (of this speed).In a development, the speed of the guide robot and / or of the follower robot or robots is reduced on the basis of a comparison, in particular quotients, of the predefined limit of the speed of the respective follower robot and of its predicted speed, in particular on the basis of an adaptation factor which is dependent on the predefined limit of the speed of the respective follower robot and of its predicted speed, in particular linearly.In one embodiment, the speed of the guide robot and / or the follower robot or robots is (also) additionally reduced on the basis of a user-specified speed reduction, in particular on the basis of the tighter or greater speed reduction. In this way, in an embodiment, (also) a user-specified speed reduction can additionally be maintained, in particular even if the predefined restriction of the speed of the follower robot or robots alone would permit a higher speed.In a development, the user-specified speed reduction is limited in such a way that the speed of the guide robot or follower robot is at most reduced or at least not increased, in particular even if the predefined limitation of the speed of the follower robot or robots alone would permit a higher speed.In one embodiment, the speed of the guidance robot and / or the follower robot or robots is reduced in a filtered manner, in particular by a reduction factor for the speed being filtered over a plurality of control cycles which are earlier, in particular IPO cycles. In this way, variations in speed can be advantageously reduced.In one embodiment, the method comprises one or more of the following steps:predicting a speed, in particular a current and / or absolute or relative and / or target or actual speed, of one or more subsequent robots, in particular on the basis of one or more past speeds, in particular absolute or relative and / or actual or target speeds, of the (respective) subsequent robot, in particular by means of, in particular, linear, approximation or extrapolation;determining an adaptation factor of one or more follower robots on the basis of a speed, in particular predicted speed, and / or a limit, or the predefined limit, of a speed of the respective follower robot, in particular as a function of a quotient of the predefined limit and the speed, in particular predicted speed;determining, in particular filtering, a reduction factor, in particular a so-called override(factor), (a or the speed) of the guide robot on the basis of a or the determined adaptation factor of one or more follower robots, a previous reduction factor of the guide robot and / or a user-specified speed reduction, in particular in the form of a user-specified reduction factor, of the guide robot, in particular by multiplying a previous reduction factor of the guide robot by the respective adaptation factor and / or selecting the strongest or strict reduction factor;determining, in particular filtering, a reduction factor, in particular a so-called override(factor), (a or the speed) of at least one follower robot on the basis of at least one or the determined adaptation factor of the follower robot, a previous reduction factor of the follower robot and / or a user-specified speed reduction, in particular in the form of a user-specified reduction factor, of the follower robot, in particular by multiplying a previous reduction factor of the follower robot by the adaptation factor and / or selecting the smallest reduction factor, wherein the reduction factor is greater than zero and less than or equal to one; and / ortransmitting one or the adaptation factor of one or more subsequent robots to a controller of the guide robot, so that the latter can ascertain its reduction factor on the basis of these ascertained adaptation factors.According to one embodiment, a system, in particular hardware and / or software, in particular program-related, is set up and / or has for carrying out a method described here:means for reducing a speed of the guide robot and / or the follower robot(s) on the basis of a or the predefined limit of a speed of the (respective) follower robot, in particular for reducing the speed of the guide robot on the basis of the predefined limits of speeds of at least two follower robots; and / or means for predefined limiting a speed of at least one follower robot on the basis of a or the monitored speed limit of this follower robot, in particular in such a way that it is less than the monitored speed limit; and / or means for reducing the speed of the guide robot and / or of at least one follower robot on the basis of a or the prediction of a speed of the at least one follower robot, in particular on the basis of at least one past speed of the follower robot; and / ormeans for reducing the speed of the guide robot and / or of at least one follower robot additionally on the basis of a speed reduction or the user-specified speed reduction; and / ormeans for filtered reduction of the setpoint speed of the guidance robot and / or of at least one following robot; and / ormeans for predicting a or the speed of at least one follower robot, in particular on the basis of at least one past speed of this follower robot; and / ormeans for determining an or the adaptation factor of at least one follower robot on the basis of an or the, in particular predicted, speed and / or a or the predefined limit of a speed of the follower robot; and / ormeans for determining, in particular filtering, a or the reduction factor of the guidance robot and / or of at least one follower robot on the basis of at least one or the determined adaptation factor, a or the previous reduction factor and / or a or the user-specified speed reduction; and / ormeans for transmitting a or the adaptation factor of at least one follower robot to a or the controller of the guide robot.A means in the sense of the present invention can be designed using hardware and / or software technology, in particular can have a processing unit, in particular a microprocessor unit (CPU), preferably connected to a memory and / or bus system by data or signals, and / or one or more programs or program modules. The CPU can be designed to process commands implemented as a program stored in a memory system, to acquire input signals from a data bus and / or to output signals to a data bus. A storage system may include one or more, in particular different, storage media, in particular optical, magnetic, solid-state and / or other non-volatile media. The program can be designed such that it embodies or is capable of executing the methods described here, so that the CPU can execute the steps of such methods and can thus control the robot layout.In one embodiment, one or more steps of the method are completely or partially automated and / or carried out or carried out during the operation of the robot system, in particular during the execution of the predetermined, in particular stored, setpoint movements, in particular by the system, its means or the computer program.In the present case, control is also understood in particular to mean a regulation.In one embodiment, the speed of the guidance robot and / or of the following robot or robots is reduced by multiplying a predefined, in particular current and / or absolute or relative, setpoint speed by the corresponding current reduction or override factor.Further advantages and features are evident from the dependent claims and the exemplary embodiments. This is partially schematic: FIG. 1 : shows a robot layout and a system for controlling the robot layout according to an embodiment of the present invention; and FIG. 2 : shows a method for controlling the robot layout according to an embodiment of the present invention.FIG. 1 shows a robot layout with a guide robot 10 and a follower robot 20, and a further follower robot 30 is indicated only partially and in dashed lines.The guide robot 10 guides a workpiece vertically upward, as indicated by a movement arrow v 10 in FIG. 1.As indicated in FIG. 1 by a movement arrow v 20,rel for the following robot 20, a desired movement is or is specified relative to a robot-fixed reference system of the guide robot 10, the coordinate axes of which lie, for example, in the plane of the workpiece or are perpendicular thereto. Accordingly, the following robot 20 moves in accordance with the present invention depending on the guide robot 10.Thus, the absolute speed of the follower robot 20, as indicated in FIG. 1 by a movement arrow v 20,abs results from superposition of the absolute speed of the guide robot 10 and the movement of the follower robot 20 relative thereto. The same applies analogously to the further follower robot 30.A system for controlling this robot layout according to an embodiment of the present invention comprises robot controllers 11, 21 and 31 for the robots 10, 20 and 30, respectively, which communicate with each other, for example, via a bus. It carries out a method for controlling the robot bond according to an embodiment of the present invention, which method is explained below with reference to FIG. 2.In a first step S 10, the controllers 21, 31 for the associated follower robot 20 or 30 predict a current setpoint speed v P,n for the current control clock n on the basis of the immediately past actual speed v n-1 and the setpoint speed v n-2 preceding this actual speed v of the two preceding control clocks n- 1 and n- 2 by means of the linear extrapolationInstead of the setpoint speed, the actual speed of the previous control cycles can alternatively also be used. In this case, the speeds can in each case be, in particular, absolute Cartesian speeds of the TCP or else joint (angular) speeds of the corresponding robot.Subsequently, in a step S 20, the controllers 21, 31 determine an adaptation factor fak n for the associated robot 20 or 30, respectively, on the basis of this predicted current setpoint speed v P,n and a predefined limit v max of a setpoint speed or actual speed of the following robot, which is obtained by multiplying a monitored speed limit v max,0 by a safety factor of 0.8, for example, according to:Alternatively, a factor of less than one can be selected as a safety factor, typically a factor between approximately 0.7 and approximately 0.95. The (predefined limits of the) setpoint speeds or actual speeds can be in each case correspondingly in turn in particular (predefined limits of the) absolute(s) Cartesian(s) speeds of the TCP or else joint(angular) speeds of the corresponding robot.Then, in a step S 30, the controllers 21, 31 determine a current reduction factor in the form of a so-called override(factor) Ov n for the current control cycle in each case for the associated robot 20 or 30, on the basis of this adaptation factor fak n, a previous reduction or override(factor) Ov n-1 for the preceding control cycle n- 1 and a user-specified speed reduction in the form of a user-specified override(factor) Ov reg according to:The user-specified override factor Ov reg can be specified between 0 and 1 or 0 and 100%.The minimum norm min{}, which supplies the smallest value, thus determines in each case at most one override factor Ov n= 1 or 100%. Accordingly, the predicted setpoint speed v P,n also does not result in an increase in the override (factor) Ov n.By multiplying the previous reduction or override (factor) Ov n-1 by the current adaptation factor fak n the previous override (factor) is updated or adapted according to the prediction of the setpoint speed and the comparison of this with the monitored speed limit v max,0 or predefined limit v max so that an adaptive adaptation of the override factors of the following robots 20, 30 results.In a step S 40, the controllers 21, 31 transmit the respective adaptation factor fak n to the controller 11 of the guide robot 10, reduce the setpoint speed of the relative movement of the respective following robot 20, 30, in particular a corresponding joint (angle) or relative Cartesian setpoint speed, with the corresponding current override (factor) Ov n and then return to the step S 10 in order to carry out the sequence S 10-S 40 described above again for the next control cycle.In a step S 100, the controller 11 receives the adaptation factors fak n, of the following robots 20, 30 for the current control clock.In a step S 110, the controller 11 determines a reduction or override (factor) Ov M,n in a manner known per se and therefore not explained in more detail here, in such a way that the absolute setpoint speed of the guide robot 10 remains below a monitored speed limit v max,0.In addition, a user can also specify a reducing or override (factor) Ov reg for the guide robot 10.In a step S 120, the controller 11 determines the reduction (factor) Ov n of the guide robot 10 for the current control clock according to: based on the adjustment factors fak n-1 of the following robots 20, 30 for the preceding control clock n- 1, the previous reduction (factor) Ov n-2 the guide robot 10 for the preceding control clock n- 2, the user-specified reduction (factor) Ov reg and the reduction (factor) Ov M,n for the guide robot 10.In this case, the term fak n-1×Ov n-2 collectively denotes the two products of the reduction factor Ov n-2 with the respective adaptation factor fak n-1 of the following robots 20 and 30, respectively.The current reduction or override(factor) Ov n thus results for the guide robot 10 as the smallest value of the reduction or override(factor) Ov reg, specified by the user for the guide robot 10, the reduction or override(factor) Ov M,n for maintaining the monitored speed limit for the guide robot 10 and its previous reduction or override(factor) Ov n-2. adapted according to the adaptation factors fak n-1 of the follower robots 20, 30.In a step S 130, the controller 11 reduces the current absolute setpoint speed of the guide robot 10, in particular its joint (angle) or absolute Cartesian setpoint speed, with this current override factor Ov n and then returns to step S 100 in order to carry out the sequence S 100-S 130 described above again for the next control cycle.By reducing both the setpoint speeds of the follower and of the guide robot as required, the probability that the follower robots 20, 30 trigger monitoring of their Cartesian or joint (angle) actual speeds can thus be advantageously reduced.In this case, the adaptation factor fak n in each case reduces, on the one hand, the speed of the relative movement of the corresponding follower robot and, on the other hand, the speed of the guide movement of the guide robot 10 with a delay of one control cycle (cf. fak n-1) as well.Although exemplary embodiments have been explained in the preceding description, it should be noted that a multiplicity of modifications are possible.Thus, in the exemplary embodiment, the guide robot 10 is a master robot of the robot system 10, 20, 30. as explained above, it can likewise be a slave robot or slave of a (still) higher-ranking guide robot in a modification, it then being possible for its speed to be reduced as explained above for the slave robots 20, 30. The predefined limits v max of the following robots 20, 30 then also have an effect, if appropriate, on the movement of such an even higher-ranking guide robot, by way of the corresponding reduction in the speed of the robot 10.It should also be noted that the exemplary embodiments are merely examples that are not intended to limit the scope, applications, and configuration in any way. Rather, the foregoing description provides those skilled in the art with a guide to the implementation of at least one exemplary embodiment, wherein various changes, in particular with regard to the function and arrangement of the described constituent parts, can be made without departing from the scope of protection as evident from the claims and combinations of features equivalent thereto.List of reference characters10 Robot guide 20, 30 Robot follower 11, 21, 31 (robot) Control (system, means) v 10 Predetermined absolute guide movement / speed of robot guide v 20,rel Predetermined relative movement / speed of robot follower 20 v 20,abs Absolute movement / speed of robot follower 20 fak n Adaptation factor

Claims

Method for controlling a robot layout having a guide robot (10) and at least one follower robot (20, 30), wherein the follower robot (20, 30) moves as a function of the guide robot and a desired movement of the follower robot (20, 30) relative to a robot-fixed reference system of the guide robot is predefined, characterized in that a current speed of the guide robot is reduced (S 130) on the basis of a predefined limit (v max) of a speed of the follower robot.Method according to Claim 1, characterized in that a speed of the follower robot is reduced (S40) on the basis of a predefined limit (v max) of a speed of the follower robot.Method according to one of the preceding claims, characterized in that the robot layout has at least two following robots (20, 30), the desired movements of which are respectively predetermined relative to a robot-fixed reference system of the guide robot, wherein the speed of the guide robot is reduced on the basis of predetermined limits (v max) of speeds of these following robots.Method according to one of the preceding claims, characterized in that the limitation (v max) of a speed of at least one follower robot can be predefined as a function of a monitored speed limitation (v max,0) of this follower robot in such a way that it is smaller than the monitored speed limitation.Method according to one of the preceding claims, characterized in that the speed of the guide robot and / or of at least one follower robot is reduced on the basis of a forecast (v P,n) of a speed of the at least one follower robot, which forecast is based in particular on at least one speed (v n-1, v n-2) of the follower robot lying behind.Method according to one of the preceding claims, characterized in that the speed of the guide robot and / or of at least one follower robot is additionally reduced on the basis of a user-specified speed reduction (Ov reg).Method according to one of the preceding claims, characterized byat least one of the steps: predicting (S10) a speed (v P,n) of at least one follower robot, in particular on the basis of at least one past speed (v n-1, v n-2) of this follower robot; ascertaining (S20) an adaptation factor (fak n) of at least one follower robot on the basis of an, in particular predicted, speed (v P,n) and / or a predefined limit (v max) of a speed of the follower robot; determining (S 30, S 120), in particular filtering, a reduction factor (Ov n) of the guidance robot and / or of at least one follower robot on the basis of at least one determined adaptation factor (fak n), a previous reduction factor (Ov n-1, Ov n-2) and / or a user-specified speed reduction (Ov reg); and / or transmitting (S 40) an adaptation factor (fak n) of at least one follower robot to a controller (11) of the guidance robot.Arrangement comprising at least two controllers (11, 21, 31) for controlling a robot layout having a guide robot (10) and at least one follower robot (20, 30) which moves as a function of the guide robot, wherein the arrangement is configured to carry out a method according to one of the preceding claims.Computer program which, insofar as it is loaded on at least one controller (11, 12, 13) for controlling a robot layout and executed, is designed to carry out a method according to one of Claims 1 to 7.A computer program product comprising program code stored on a computer readable medium for performing a method according to any one of claims 1 to 7.

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