In multi-robot systems, particularly for tasks requiring high precision and tight synchronization, the traditional approach relies heavily on centralized control via Programmable Logic Controllers (PLCs). This method, while effective, imposes significant costs, complexity, and inflexibility on end-users who must purchase, install, and program PLCs.

This thesis seeks to address the challenge of achieving precise, synchronized control of multiple robots for cooperative tasks (such as modular soldering) without relying on a PLC. The goal is to develop a distributed, software-based synchronization solution that leverages the computational power of the robot controllers themselves, using semaphores or similar mechanisms.

The investigated approach aims to be user-friendly, cost-effective, and adaptable, ultimately allowing for easy reprogramming and extension to other collaborative robotic tasks.