DE102019102293B4 - Coordination of two cooperative robotic manipulators - Google Patents

Abstract

Method for teaching mutually coordinated movement patterns of a first robotic manipulator (10) and a second robotic manipulator (20), comprising the steps: - positioning (S1) of a first end effector (11) of the first robotic manipulator (10) at a first location of a load (30 ) and positioning a second end effector (21) of the second robotic manipulator (20) at a second location of the load (30) such that the load (30) is contacted oppositely by the first end effector (11) and the second end effector (21),- pressing (S2) of the first end effector (11) and the second end effector (21) each against the load (30) to hold the load (30), - detecting and storing (S3) a first position of the pressed first end effector (11) and one second position of the pressed second end effector (21) and / or a relative position between the first position and the second position and / or a holding force of the first end effector (11) and the second end effect ector (21) against the load (30) by a detection unit (40), - manually guiding (S4) the load (30) along a load path, - during the manual guiding of the load (30): controlling (S5) the first robotic manipulator (10) and/or the second robot manipulator (20) for holding the load (30) by an arithmetic and control unit (50), so that the first position relative to the load (30) and the second position relative to the load (30) and /or the relative position is maintained and/or the holding force is not fallen below,- During the manual guidance of the load: detecting and storing (S6) a first path of the first end effector and/or a first set of poses of the first robotic manipulator (10), and detecting a second trajectory of the second end effector (21) and/or a second pose set of the second robotic manipulator (20), each by a trajectory acquisition unit (60).

Description

The invention relates to a method for teaching in mutually coordinated movement patterns of a first robot manipulator and a second robot manipulator, and a system for teaching in mutually coordinated movement patterns of a first robot manipulator and a second robot manipulator.

In particular, when a first robotic manipulator and a second robotic manipulator are to cooperatively complete a task, the question of the coordination of the first robotic manipulator relative to the second robotic manipulator arises. For example, if a load is to be lifted and transported by the first robotic manipulator and the second robotic manipulator together, it is crucial that the first and second robotic manipulator work together in a coordinated manner.

the DE 10 2016 220 410 A1 relates to a compliant linkage mechanism for use with a support structure, the compliant linkage mechanism comprising: a carriage having at least one link; and a pair of parallel four-bar linkage assemblies having a first link set configured for fixed coupling to the support structure, a second link set rotatably connected to the carriage spaced from the first link set, and a third link set rotatably connected to the first and second link sets and spanning the distance between them; wherein the compliant linkage mechanism is configured to give the carriage a passive translational degree of freedom along a first horizontal axis in response to application of an input force by an operator, and to support the carriage at a stable equilibrium position along the first horizontal axis using a gravitational restoring force.

the DE 10 2016 214 307 A1 relates to a clamping device for a workpiece that can be arranged in a coordinate measuring machine, having an arm that can be fixed in place on a first end on a base, having at least two segments and at least one bearing with which the two segments are connected so that they can move relative to one another are, a holding device for the workpiece, which is attached to a second end of the arm, a measuring device for determining the direction of movement or pose of at least one of the two segments, a braking device, the braking force of which can be regulated, and with which a movement of the two segments relative to one another can be braked by increasing the braking force, a control device for controlling the braking force of the braking device, the control device being connected to the measuring device and to the braking device.

the DE 10 2014 014 361 A1 relates to a method for manufacturing a complex product, in particular a motor vehicle, in which a workpiece is picked up by means of at least two cooperating industrial robots, which have suitable, separate gripping systems, in which the workpiece is brought into a predetermined pose by means of the cooperating industrial robots, in which a point application is carried out on the workpiece by means of at least one further industrial robot, while the pose is maintained by means of the cooperating industrial robots.

the DE 10 2012 110 211 A1 relates to a device for performing a movement sequence with a support device which can be coupled to at least one part of a person's body for controllable, in particular programmable, supporting and/or guiding at least one partial movement of the at least one part of the person's body that is included in the movement sequence.

the EP 2 743 040 A2 relates to a method for determining the position of a center point of a machine tool which is received in a gripping head and which is reversibly connected to an industrial robot with an end effector and connecting devices.

WO 2018/091 103 A1 relates to a robotic arm system with a first arm and a second arm, a control unit of the robotic arm system being designed to determine a weight of an object. The second arm can be automatically called in for support if the weight of the object exceeds a certain limit.

The object of the invention is to use a teaching process to synchronously and to be specified together with the second robot manipulator.

The invention results from the features of the independent claims. Advantageous developments and refinements are the subject matter of the dependent claims.

• - Positionieren eines ersten Endeffektors des ersten Robotermanipulators an einem ersten Ort einer Last und Positionieren eines zweiten Endeffektors des zweiten Robotermanipulators an einem zweiten Ort der Last, sodass die Last vom ersten Endeffektor und vom zweiten Endeffektor gegenüberliegend kontaktiert wird,
• - Andrücken des ersten Endeffektors und des zweiten Endeffektors jeweils gegen die Last zum Halten der Last,
• - Erfassen und Abspeichern einer ersten Position des angedrückten ersten Endeffektors und einer zweiten Position des angedrückten zweiten Endeffektors und/oder einer Relativposition zwischen der ersten Position und der zweiten Position und/oder einer Haltekraft des ersten Endeffektors und des zweiten Endeffektors gegen die Last durch eine Erfassungseinheit,
• - Manuelles Führen der Last entlang einer Lastbahn,
• - Während des manuellen Führens der Last: Ansteuern des ersten Robotermanipulators und/oder des zweiten Robotermanipulators zum Halten der Last durch eine Rechen- und Steuereinheit, sodass die erste Position relativ zur Last und die zweite Position relativ zur Last und/oder die Relativposition beibehalten und/oder die Haltekraft nicht unterschritten wird,
• - Während des manuellen Führens der Last: Erfassen und Abspeichern einer ersten Bahn des ersten Endeffektors und/oder eines ersten Posensatzes des ersten Robotermanipulators, und Erfassen einer zweiten Bahn des zweiten Endeffektors und/oder eines zweiten Posensatzes des zweiten Robotermanipulators, jeweils durch eine Bahnerfassungseinheit.

A first aspect of the invention relates to a method for teaching in mutually coordinated movement patterns of a first robot mani pululator and a second robotic manipulator, comprising the steps:

• - Positioning a first end effector of the first robotic manipulator at a first location of a load and positioning a second end effector of the second robotic manipulator at a second location of the load, so that the load is contacted oppositely by the first end effector and the second end effector,
• - pressing the first end effector and the second end effector against the load to hold the load,
• - Detecting and storing a first position of the pressed first end effector and a second position of the pressed second end effector and / or a relative position between the first position and the second position and / or a holding force of the first end effector and the second end effector against the load by a detection unit ,
• - Manually guiding the load along a load path,
• - During manual guidance of the load: Controlling the first robotic manipulator and/or the second robotic manipulator to hold the load by an arithmetic and control unit, so that the first position relative to the load and the second position relative to the load and/or the relative position are maintained and /or the holding force is not undercut,
• - During manual guidance of the load: detecting and storing a first path of the first end effector and/or a first set of poses of the first robotic manipulator, and detecting a second path of the second end effector and/or a second set of poses of the second robotic manipulator, each by a path detection unit.

The load may be a workpiece, blank, box, or other object to be cooperatively transported by the first robotic manipulator and the second robotic manipulator.

The first robotic manipulator and the second robotic manipulator are in particular two independent robotic manipulators, i. H. each of the robotic manipulators could also perform tasks independently and is controlled by its own control unit.

Alternatively, the first robotic manipulator and the second robotic manipulator are preferably arranged on a common platform and are controlled by a common control unit. The invention relates to both alternatives.

Advantageously, the first end effector and the second end effector are each pressed against the load to hold the load either by manual pressing, in which case it is up to the user to apply a required holding force, so that the load is reliably held by the first end effector and the second end effector is, or alternatively automated, by controlling the first robotic manipulator or the second robotic manipulator. In the latter case, i. H. if at least one of the robot manipulators is activated, a sufficiently high holding force is advantageously automatically applied to the load.

The term “set of poses” is advantageously understood to mean a time series of poses of the respective robot manipulator. Accordingly, a pose of the respective robot manipulator is recorded and stored, in particular in each individual time step of a large number of time steps while running through the respective path. In particular, a pose is stored by a vector of joint angles such that any of the stored poses of the pose set can be uniquely restored at any point in time. From the respective set of poses, therefore, the respective path clearly results. While in the first alternative a path of the respective end effector is explicitly recorded, for example by an optical detection system, when a pose set is recorded, a complete set of joint angles of the respective robot manipulator is recorded. If the respective set of poses is traversed in accordance with the respective data set, the associated path of the respective end effector results automatically. Accordingly, the first set of poses is in particular a time series of joint angles that the first robot manipulator has assumed when traversing the end effector along the first path. The same applies to the second set of poses.

In the case of elastically deformable loads in particular, it may advantageously be sufficient to store only the respective position of the respective pressed end effector, since the elasticity of the load itself generates a holding force on the load between the first end effector and the second end effector.

Manual guidance is preferably understood to mean a process in which a user places his or her hand on the load and moves it in a desired direction by applying a force to the load.

In contrast to a trajectory, a respective path of a respective end effector only describes the geometric path of the respective end effector End effector, without containing any time information of a respective location on the path. A trajectory, on the other hand, contains the geometric path of the path, with each location also being assigned time information as to the point in time at which the location is traversed.

The detection of the first path or the detection of the first set of poses for the first path by the path detection unit is preferably carried out by position sensors, in particular on the joints of the respective robot manipulator. The same applies to capturing the second track or the second set of poses for the second track. The detection and storage of a first position of the pressed first end effector and a second position of the pressed second end effector by the detection unit is preferably carried out by position sensors, in particular on the joints of the respective robot manipulator.

It is an advantageous effect of the invention that a first path of a first robotic manipulator and a second path of a second robotic manipulator can be determined very easily by a user in relation to one another. In particular, because the user only has to guide the load manually, a very simple but nevertheless precise teach-in process is possible.

• - Erfassen und Abspeichern einer ersten Orientierung des angedrückten ersten Endeffektors relativ zur Last und einer zweiten Orientierung des angedrückten zweiten Endeffektors relativ zur Last,
• - Während des manuellen Führens der Last: Ansteuern des ersten Robotermanipulators und des zweiten Robotermanipulators zum Halten der Last, sodass die erste Orientierung des ersten Endeffektors relativ zur Last und die zweite Orientierung des zweiten Endeffektors relativ zur Last beibehalten werden.

According to an advantageous embodiment, the method also has the steps:

• - detecting and storing a first orientation of the pressed first end effector relative to the load and a second orientation of the pressed second end effector relative to the load,
• - While guiding the load manually: Controlling the first robotic manipulator and the second robotic manipulator to hold the load such that the first orientation of the first end effector relative to the load and the second orientation of the second end effector relative to the load are maintained.

An orientation of a respective end effector relative to the load is preferably expressed by position angles, in particular by Euler angles.

• - Positionieren eines ersten Endeffektors des ersten Robotermanipulators an einem ersten Ort einer Last und Positionieren eines zweiten Endeffektors des zweiten Robotermanipulators an einem zweiten Ort der Last, sodass die Last vom ersten Endeffektor und vom zweiten Endeffektor gegenüberliegend kontaktiert wird,
• - Andrücken des ersten Endeffektors und des zweiten Endeffektors jeweils gegen die Last zum Halten der Last,
• - Erfassen und Abspeichern einer ersten Position des angedrückten ersten Endeffektors und einer zweiten Position des angedrückten zweiten Endeffektors und/oder einer Relativposition zwischen der ersten Position und der zweiten Position und/oder einer Haltekraft des ersten Endeffektors und des zweiten Endeffektors gegen die Last und einer ersten Orientierung des angedrückten ersten Endeffektors relativ zur Last und einer zweiten Orientierung des angedrückten zweiten Endeffektors relativ zur Last durch eine Erfassungseinheit,
• - Manuelles Führen der Last entlang einer Lastbahn,
• - Während des manuellen Führens der Last: Ansteuern des ersten Robotermanipulators und/oder des zweiten Robotermanipulators zum Halten der Last durch eine Rechen- und Steuereinheit, sodass die erste Position relativ zur Last und die zweite Position relativ zur Last und/oder die Relativposition beibehalten und/oder die Haltekraft nicht unterschritten wird und sodass die erste Orientierung des ersten Endeffektors relativ zur Last und die zweite Orientierung des zweiten Endeffektors relativ zur Last beibehalten werden,
• - Während des manuellen Führens der Last: Erfassen und Abspeichern einer ersten Bahn des ersten Endeffektors und/oder eines ersten Posensatzes des ersten Robotermanipulators, und Erfassen einer zweiten Bahn des zweiten Endeffektors und/oder eines zweiten Posensatzes des zweiten Robotermanipulators, jeweils durch eine Bahnerfassungseinheit.

According to this embodiment of the invention, the first aspect of the invention results in a method for teaching in mutually coordinated movement patterns of a first robotic manipulator and a second robotic manipulator, comprising the steps:

• - Positioning a first end effector of the first robotic manipulator at a first location of a load and positioning a second end effector of the second robotic manipulator at a second location of the load, so that the load is contacted oppositely by the first end effector and the second end effector,
• - pressing the first end effector and the second end effector against the load to hold the load,
• - detecting and storing a first position of the pressed first end effector and a second position of the pressed second end effector and/or a relative position between the first position and the second position and/or a holding force of the first end effector and the second end effector against the load and a first Orientation of the pressed first end effector relative to the load and a second orientation of the pressed second end effector relative to the load by a detection unit,
• - Manually guiding the load along a load path,
• - During manual guidance of the load: Controlling the first robotic manipulator and/or the second robotic manipulator to hold the load by an arithmetic and control unit, so that the first position relative to the load and the second position relative to the load and/or the relative position are maintained and /or the holding force is not fallen below and so that the first orientation of the first end effector relative to the load and the second orientation of the second end effector relative to the load are maintained,
• - During manual guidance of the load: detecting and storing a first path of the first end effector and/or a first set of poses of the first robotic manipulator, and detecting a second path of the second end effector and/or a second set of poses of the second robotic manipulator, each by a path detection unit.

According to a further advantageous embodiment, the first end effector is positioned at the first load location by manually guiding the first robot manipulator and/or the second end effector is positioned at the second load location by manually guiding the second robot manipulator.

According to a further advantageous embodiment, the first end effector is positioned at the first location of the load by controlling the first robotic manipulator and/or the second end effector is positioned at the second location of the load by controlling the second robotic manipulator.

According to a further advantageous embodiment, the first end effector and/or the second end effector is/are pressed against the load to hold the load by manual pressing.

According to a further advantageous embodiment, the first robotic manipulator and/or the second robotic manipulator is actuated in response to an input signal from a user.

According to a further advantageous embodiment, the first end effector and/or the second end effector is/are pressed against the load to hold the load by actuating the first robotic manipulator and/or the second robotic manipulator.

According to a further advantageous embodiment, the first robot manipulator and/or the second robot manipulator is gravity-compensated during manual guidance of the load, and the first robot manipulator and/or the second robot manipulator are force-controlled and/or impedance-controlled to hold the load, so that the first position relative to the load and the second position relative to the load and/or the relative position are maintained and/or the holding force is not fallen below.

In the case of a gravity-compensated regulation of a respective robot manipulator, in particular the drives of the respective robot manipulator are controlled in such a way that the gravity of the respective robot manipulator itself does not lead to any acceleration of the respective limbs of the respective robot manipulator. The regulation advantageously also allows a user to move the respective links and also the end effector of the respective robot manipulator freely in space.

Another aspect of the invention relates to a system for teaching mutually coordinated movement patterns of a first robotic manipulator and a second robotic manipulator, having a first robotic manipulator, a second robotic manipulator, a detection unit, an arithmetic and control unit and a path detection unit, the detection unit for detecting and storing a first position of a first end effector pressed at a first location of the load and a second position of a second end effector pressed at a second location of the load and/or a relative position between the first position and the second position and/or a holding force of the first end effector and the second end effector is designed against the load, and wherein the arithmetic and control unit is designed to use the first robotic manipulator and/or the second robotic manipulator to hold the during manual guiding of the load along a load path Controlling the load in such a way that the first position relative to the load and the second position relative to the load and/or the relative position is maintained and/or the holding force is not undershot, and the path detection unit for detecting and storing a first path of the first end effector and/or a first set of poses of the first robotic manipulator, and for detecting a second trajectory of the second end effector and/or a second set of poses of the second robotic manipulator.

According to a further advantageous embodiment, the arithmetic and control unit is designed to control the first robot manipulator in a gravity-compensated manner while the load is being manually guided along the load path, and to control the second robot manipulator for holding the load for tracking, so that the first position relative to the load and the second position relative to the load and/or the relative position is maintained and/or the holding force is not fallen below.

In this context, tracking means that the second robot manipulator is controlled in such a way that the load remains independently between the first end effector and the second end effector even while the load is being guided manually, without the user guiding the load having to apply a force .

Advantages and preferred developments of the proposed system result from an analogous and analogous transfer of the statements made above in connection with the proposed method.

Further advantages, features and details result from the following description, in which at least one exemplary embodiment is described in detail-if appropriate with reference to the drawing. Identical, similar and/or functionally identical parts are provided with the same reference symbols.

• 1 ein Verfahren zum Einlernen von zueinander koordinierten Bewegungsmustern eines ersten Robotermanipulators und eines zweiten Robotermanipulators gemäß einem Ausführungsbeispiel der Erfindung, und
• 2 ein System zum Einlernen von zueinander koordinierten Bewegungsmustern eines ersten Robotermanipulators und eines zweiten Robotermanipulators gemäß einem weiteren Ausführungsbeispiel der Erfindung.

Show it:

• 1 a method for teaching mutually coordinated movement patterns of a first robotic manipulator and a second robotic manipulator according to an embodiment of the invention, and
• 2 a system for teaching mutually coordinated movement patterns of a first robotic manipulator and a second robotic manipulator according to a further exemplary embodiment of the invention.

The representations in the figures are schematic and not to scale.

• - Positionieren S1 eines ersten Endeffektors 11 des ersten Robotermanipulators 10 an einem ersten Ort einer Last 30 und Positionieren eines zweiten Endeffektors 21 des zweiten Robotermanipulators 20 an einem zweiten Ort der Last 30, sodass die Last 30 vom ersten Endeffektor 11 und vom zweiten Endeffektor 21 gegenüberliegend kontaktiert wird,
• - Andrücken S2 des ersten Endeffektors 11 und des zweiten Endeffektors 21 jeweils gegen die Last 30 zum Halten der Last 30,
• - Erfassen und Abspeichern S3 einer ersten Position des angedrückten ersten Endeffektors 11 und einer zweiten Position des angedrückten zweiten Endeffektors 21 und einer Haltekraft des ersten Endeffektors 11 und des zweiten Endeffektors 21 gegen die Last 30 jeweils durch eine Erfassungseinheit 40,
• - Manuelles Führen S4 der Last 30 entlang einer Lastbahn, wobei der erste Robotermanipulator 10 und der zweite Robotermanipulator 20 während des manuellen Führens der Last 30 schwerkraftkompensiert geregelt ist,
• - Während des manuellen Führens der Last 30: Ansteuern S5 des ersten Robotermanipulators 10 und des zweiten Robotermanipulators 20 zum Halten der Last 30 durch eine Rechen- und Steuereinheit 50, sodass die erste Position relativ zur Last 30 und die zweite Position relativ zur Last 30 beibehalten und die Haltekraft nicht unterschritten wird, wobei der zweite Robotermanipulator 20 zum Halten der Last 30 nachgeführt wird, sodass die erste Position relativ zur Last 30 und die zweite Position relativ zur Last 30 beibehalten und gleichzeitig die Haltekraft nicht unterschritten wird,
• - Während des manuellen Führens der Last: Erfassen und Abspeichern S6 eines ersten Posensatzes des ersten Robotermanipulators 10 für die erste Bahn, und Erfassen eines zweiten Posensatzes des zweiten Robotermanipulators 20 für die zweite Bahn, jeweils durch eine Bahnerfassungseinheit 60.

1 shows a method for teaching mutually coordinated movement patterns of a first robotic manipulator 10 and a second robotic manipulator 20, having the steps:

• - Positioning S1 a first end effector 11 of the first robotic manipulator 10 at a first location of a load 30 and positioning a second end effector 21 of the second robotic manipulator 20 at a second location of the load 30 so that the load 30 is opposite from the first end effector 11 and from the second end effector 21 is contacted,
• - Pressing S2 of the first end effector 11 and the second end effector 21 against the load 30 to hold the load 30,
• - detecting and storing S3 a first position of the pressed first end effector 11 and a second position of the pressed second end effector 21 and a holding force of the first end effector 11 and the second end effector 21 against the load 30 each by a detection unit 40,
• - Manual guiding S4 of the load 30 along a load path, the first robotic manipulator 10 and the second robotic manipulator 20 being controlled in a gravity-compensated manner during the manual guiding of the load 30,
• - During manual guidance of the load 30: control S5 of the first robotic manipulator 10 and the second robotic manipulator 20 to hold the load 30 by an arithmetic and control unit 50, so that the first position relative to the load 30 and the second position relative to the load 30 are maintained and the holding force is not fallen below, the second robot manipulator 20 being tracked to hold the load 30, so that the first position relative to the load 30 and the second position relative to the load 30 are maintained and at the same time the holding force is not fallen below,
• - During manual guidance of the load: detection and storage S6 of a first set of poses of the first robotic manipulator 10 for the first path, and detection of a second set of poses of the second robotic manipulator 20 for the second path, each by a path detection unit 60.

2 shows a system 1 for teaching mutually coordinated movement patterns of a first robotic manipulator 10 and a second robotic manipulator 20, having a first robotic manipulator 10, a second robotic manipulator 20, a detection unit 40, an arithmetic and control unit 50 and a path detection unit 60. The detection unit 40 is used for detecting and storing a first position of a first end effector 11 pressed at a first location on load 30 and a second position of a second end effector 21 pressed at a second location on load 30, and for detecting a holding force between the first end effector 11 and the second end effector 21 , acting on the load 30. For this purpose, the detection unit 40 has joint angle sensors, which are also used by the path detection unit 60. Furthermore, the detection unit 40 has a memory used by the arithmetic and control unit 50 and force/torque sensors on the joints and on the respective end effector 11, 21. The arithmetic and control unit 50 is designed to move the load 30 along while it is being guided manually a load path to control the first robotic manipulator 10 and the second robotic manipulator 20 for holding the load 30 such that the first position is maintained relative to the load 30 and the second position is maintained relative to the load 30 and the holding force is maintained. Furthermore, the path detection unit 60 is designed to detect and store a first set of poses of the first robotic manipulator 10, and to detect and store a second set of poses of the second robotic manipulator 20, so that a first path and a second path, which follow the load 30, for the later use is available.

Reference List

1

system

10

first robotic manipulator

11

first end effector

20

second robotic manipulator

21

second end effector

30

load

40

registration unit

50

computing and control unit

60

web acquisition unit

S1

positioning

S2

pressing

S3

Capture and save

S4

Manual guidance

S5

driving

S6

Capture and save

Claims (10)

Method for teaching mutually coordinated movement patterns of a first Robot manipulator (10) and a second robot manipulator (20), comprising the steps: - positioning (S1) a first end effector (11) of the first robot manipulator (10) at a first location of a load (30) and positioning a second end effector (21) the second robot manipulator (20) at a second location of the load (30), so that the load (30) is contacted oppositely by the first end effector (11) and by the second end effector (21), - pressing (S2) the first end effector (11) and the second end effector (21) in each case against the load (30) for holding the load (30), - detecting and storing (S3) a first position of the pressed first end effector (11) and a second position of the pressed second end effector (21) and/or a relative position between the first position and the second position and/or a holding force of the first end effector (11) and the second end effector (21) against the load (30) by a detection unit (40), - manual F guiding (S4) the load (30) along a load path, - during the manual guiding of the load (30): controlling (S5) the first robotic manipulator (10) and/or the second robotic manipulator (20) to hold the load (30) by an arithmetic and control unit (50), so that the first position relative to the load (30) and the second position relative to the load (30) and/or the relative position is maintained and/or the holding force is not undershot, - during manual guidance of the load: detecting and storing (S6) a first trajectory of the first end effector and/or a first set of poses of the first robotic manipulator (10), and detecting a second trajectory of the second end effector (21) and/or a second set of poses of the second robotic manipulator (20 ), each by a web detection unit (60). procedure after claim 1 , further comprising the steps: - detecting and storing a first orientation of the pressed first end effector (11) relative to the load (30) and a second orientation of the pressed second end effector (21) relative to the load (30), - while manually guiding the Load (30): Driving (S6) the first robotic manipulator (10) and the second robotic manipulator (20) to hold the load (30) so that the first orientation of the first end effector (11) relative to the load (30) and the second orientation of the second end effector (21) relative to the load (30) are maintained. Procedure according to one of Claims 1 until 2 , wherein the positioning of the first end effector (11) at the first location of the load (30) by manually guiding the first robotic manipulator (10) and / or the positioning of the second end effector (21) at the second location of the load (30) by manual Leading the second robot manipulator (20) takes place. Procedure according to one of Claims 1 until 2 , wherein the positioning of the first end effector (11) at the first location of the load (30) by controlling the first robotic manipulator (10) and/or the positioning of the second end effector (21) at the second location of the load (30) by controlling the second robot manipulator (20) takes place. Procedure according to one of Claims 1 until 4 , wherein the pressing of the first end effector (11) and/or the second end effector (21) against the load (30) for holding the load (30) takes place by manual pressing. Procedure according to one of Claims 1 until 4 , wherein the pressing of the first end effector (11) and/or the second end effector (21) against the load (30) for holding the load (30) takes place by controlling the first robotic manipulator (10) and/or the second robotic manipulator (20). . procedure after claim 6 , wherein the activation of the first robotic manipulator (10) and/or the second robotic manipulator (20) takes place in response to an input signal from a user. Method according to one of the preceding claims, wherein the first robotic manipulator (10) and/or the second robotic manipulator (20) is controlled in a gravity-compensated manner during manual guidance of the load (30), and the first robotic manipulator (10) and the second robotic manipulator (20) to hold the load (30), the load is tracked in a force-controlled and/or impedance-controlled manner, so that the first position relative to the load (30) and the second position relative to the load (30) and/or the relative position are maintained and/or the holding force is not fallen below will. System (1) for teaching mutually coordinated movement patterns of a first robotic manipulator (10) and a second robotic manipulator (20), having a first robotic manipulator (10), a second robotic manipulator (20), a detection unit (40), an arithmetic and control unit (50) and a path detection unit (60), wherein the detection unit (40) for detecting and storing a first position of a first end effector (11) pressed at a first location of the load (30) and a second position of a, at a second location of the Last (30) pressed second end effector (21) and / or a relative position between the first position and the second position tion and/or a holding force of the first end effector (11) and of the second end effector (21) against the load (30), the computing and control unit (50) being designed to, during manual guidance of the load (30) driving the first robotic manipulator (10) and/or the second robotic manipulator (20) along a load path to hold the load (30) in such a way that the first position is relative to the load (30) and the second position is relative to the load (30) and/or or the relative position is maintained and/or the holding force is not fallen short of, and wherein the path detection unit (60) for detecting and storing a first path of the first end effector and/or a first set of poses of the first robot manipulator (10) for the first path, and for detecting a second trajectory of the second end effector (21) and/or a second pose set of the second robotic manipulator (20) for the second trajectory. System (1) after claim 9 , wherein the arithmetic and control unit (50) is designed to control the first robot manipulator (10) in a gravity-compensated manner while the load (30) is being manually guided along the load path, and the second robot manipulator (20) for holding the load (30) to be controlled for tracking, so that the first position relative to the load (30) and the second position relative to the load (30) and/or the relative position are maintained and/or the holding force is not fallen short of.

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