Abstract: A control method for a complex consisting of a plurality of multiaxial handling devices arranged in succession and/or side by side, is provided. A complex consisting of a plurality of multiaxial handling devices, arranged in succession and/or side by side, for the execution of multidimensional working and/or handling movements and consisting of at least one conveyor facility for transporting objects is controlled. The handling devices are provided for picking up, processing and setting down the objects being transported along. The guide value for the multidimensional movement sequence of handling devices is modeled on one or more objects transported along by a conveyor facility as a guide value in a distributed multiaxial system with synchronous operation, such as for example in the case of a printing machine, a paper mill or rolling mill or the like.

Abstract: A method of synchronizing a pickup of a handling device, a computer readable medium and a control device are disclosed. During movement, a pickup of a multi-axis handling device is synchronized with an object to be picked up which is carried along by a conveyor device. Furthermore, the pickup is synchronized with a moving conveyor device in order to put the object down onto the conveyor device. The pickup is synchronized along a computationally-determined polynomial path of at least the 3rd order between a starting point and a destination point.

Abstract: A control method for a complex consisting of a plurality of multiaxial handling devices arranged in succession and/or side by side, is provided. A complex consisting of a plurality of multiaxial handling devices, arranged in succession and/or side by side, for the execution of multidimensional working and/or handling movements and consisting of at least one conveyor facility for transporting objects is controlled. The handling devices are provided for picking up, processing and setting down the objects being transported along. The guide value for the multidimensional movement sequence of handling devices is modeled on one or more objects transported along by a conveyor facility as a guide value in a distributed multiaxial system with synchronous operation, such as for example in the case of a printing machine, a paper mill or rolling mill or the like.

Abstract: A method of synchronizing a pickup of a handling device, a computer readable medium and a control device are disclosed. During movement, a pickup of a multi-axis handling device is synchronized with an object to be picked up which is carried along by a conveyor device. Furthermore, the pickup is synchronized with a moving conveyor device in order to put the object down onto the conveyor device. The pickup is synchronized along a computationally-determined polynomial path of at least the 3rd order between a starting point and a destination point.