Abstract: The present invention features a computer-implemented method for adjustably distributing cooperative motion between a first manipulator and a second manipulator in a manufacturing processing system. The method includes receiving, by a computing device, data for the first manipulator configured to hold a tool, data for the second manipulator configured to hold a workpiece, and process data defining a process to be performed by the tool on at least a portion of the workpiece. The data for at least one of the first or second manipulator comprises a weighting factor adjustable by a user to specify at least a percentage of motion for the corresponding manipulator. The method also includes generating a relative transformation function for defining the process path and distributing motions between the first and second manipulators to complete the process path based on the at least one weighting factor.

Abstract: The present invention features a computer-implemented method for adjustably distributing cooperative motion between a first manipulator and a second manipulator in a manufacturing processing system. The method includes receiving, by a computing device, data for the first manipulator configured to hold a tool, data for the second manipulator configured to hold a workpiece, and process data defining a process to be performed by the tool on at least a portion of the workpiece. The data for at least one of the first or second manipulator comprises a weighting factor adjustable by a user to specify at least a percentage of motion for the corresponding manipulator. The method also includes generating a relative transformation function for defining the process path and distributing motions between the first and second manipulators to complete the process path based on the at least one weighting factor.