KALI - An environment for the programming and control of cooperative manipulatorsA design description is given of a controller for cooperative robots. The background and motivation for multiple arm control are discussed. A set of programming primitives which permit a programmer to specify cooperative tasks are described. Motion primitives specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues are discussed and the authors' implementation briefly described. The relations between programming and control in the case of multiple robots are examined. The allocation of various tasks among a multiprocessor computer is described.
Document ID
19880067226
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hayward, Vincent (McGill University Montreal, Canada)
Hayati, Samad (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)