10.0 Simultaneous Multi-Robot Walkthrough

This walkthrough is intended for advanced users experienced in single robot programming. If you are new to Robotmaster, please see our getting started guide here: https://robotmaster.atlassian.net/wiki/spaces/RMDOC/pages/10694066219/Robotmaster+Getting+Started+Guide?atl_f=content-tree

The purpose of this walkthrough is to give exposure to most of the new features and functionalities being released with Robotmaster 2025 (10.0). This walkthrough is meant as a supplemental document to the reference and procedural documents describing the new features in detail.

Part 1 - Create a multi-robot cell

Loading multiple robots

Reference document: https://robotmaster.atlassian.net/wiki/spaces/RMDOC/pages/10377625626/Multi-Robots+-+Cell+Editor+-+Load+Robot?atl_f=content-tree

1. Create a new Robot cell session.

2. Load a Robotmaster brand robot (Robotmaster_2.0).

3. Load a second Robotmaster_2.0 robot.

4. Note that the second robot’s name and child frames are automatically updated to not conflict.

   

5. Also note that both robots are located in the same place.

6. Arrange both robots so that they are next to each other.

7. Add any cell components you wish, and place them in the cell (optional).

8. Add a frame for path mounting (optional).

Home positions for multi-robot cells

Reference document: https://robotmaster.atlassian.net/wiki/spaces/RMDOC/pages/10444800003/Multi-Robots+-+Cell+Editor+-+Home+Position?atl_f=content-tree

1. Create a new home position in the Home position repository.

2. Edit the new home position.

3. Note that the single home position includes all robots in the cell, so a single home position dictates both robot home positions whether used in a single or multi-robot configuration.

4. Edit the values as desired.

5. Create 2 more home positions with different values, which will be referenced later in the walkthrough.

Creating a multi-robot configuration

Reference documents:

• https://robotmaster.atlassian.net/wiki/spaces/RMDOC/pages/10444537858/Multi-Robots+-+Cell+Editor+-+Configuration?atl_f=content-tree

• https://robotmaster.atlassian.net/wiki/spaces/RMDOC/pages/10647502875/Set+up+a+multi-robot+configuration+in+the+cell+editor?atl_f=content-tree

1. Create a new configuration.

2. Edit the configuration.

3. Add the first robot tooling mounting data, including default tooling if desired.

   

4. Click the new button labelled “Add tooling mounting”.

   

5. Note that this does 3 things:

   1. Adds a second tooling mounting named Tooling mounting 2, identifying this configuration as simultaneous multi-robot configuration.

   2. Renames Tooling mounting to Tooling mounting 1.

   3. Greys out the “Add tooling mounting” button. This occurs if there are as many tooling mountings as there are robots in the cell.
      

      

6. Add the second robot tooling mounting data, including default tooling if desired.

   

7. Add a path mounting frame.

8. Add a default home position (optional).

9. Click Ok to confirm the creation of the multi-robot configuration.

Creating safety envelopes

Reference documents:

• https://robotmaster.atlassian.net/wiki/spaces/RMDOC/pages/10497818629/Cell+Editor+-+Safety+Envelopes?atl_f=content-tree

• https://robotmaster.atlassian.net/wiki/spaces/RMDOC/pages/10728505346/Create+safety+envelopes+and+use+them+in+collision+groups?atl_f=content-tree

1. Add a safety envelope to J3 of the first robot:

   1. Expand the first robot in the tree.

   2. Right click on J3 and select “Create safety envelope for J3

   3. Specify 100mm for Shape extension.

   4. Specify Wrap for Shape type.

2. Note how a safety envelope object is created in the robot tree.

   

3. Note how the safety envelope is visible in the viewport.

   

4. Repeat the above steps for J4 of the first robot, as well as J3 and J4 for the second robot.

Creating multi-robot collision and interference groups