本发明公开了一种双机器人协作同步的方法、系统、装置和存储介质，其中方法包括以下步骤：获取从机器人的基坐标在主机器人的基坐标系下的第一表示；结合获得的第一表示将从机器人末端TCP坐标同步跟随到主机器人TCP末端，从而实现主机器人和从机器人同步。本发明通过采用主机器人的基坐标系来表示从机器人基坐标，并结合第一表示和主机器人TCP末端的变化实时地获得从机器人末端TCP坐标，根据获得的坐标实时控制从机器人，从而时从机器人能够实时地跟随主机器人，并实现高精确度地同步，可广泛应用于多机器人间协作技术。

The invention discloses a method, system, device and storage medium for cooperative synchronization of two robots. The method includes the following steps: obtaining the first representation of the base coordinate system of the slave robot under the base coordinate system of the master robot; The first representation obtained in combination will synchronously follow the TCP coordinates from the end of the robot to the TCP end of the master robot, so as to realize the synchronization of the master robot and the slave robot. The invention adopts the base coordinate system of the master robot to represent the base coordinate of the slave robot, and obtains the TCP coordinate of the end of the slave robot in real time by combining the first representation and the change of the TCP end of the master robot, and controls the slave robot in real time according to the obtained coordinates, so that the slave robot can follow the master robot in real time and realize high precision synchronization. It can be widely used in multi-machine collaboration technology.