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31 October 1987 Design Principles Of A Cooperative Robot Controller
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Proceedings Volume 0851, Space Station Automation III; (1987)
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States
The paper describes the design of a controller for cooperative robots being designed at McGill University in a collaborative effort with the Jet Propulsion Laboratory. The first part of the paper discusses the background and motivation for multiple arm control. Then, a set of programming primitives, which are based on the RCCL system and which permit a program-mer to specify cooperative tasks are described. The first group of primitives are motion primitives which specify asynchronous motions, master/slave motions. arid cooperative motions. In the context of cooperative robots, trajectory generation issues will be discussed and our implementation described. A second set of primitives provides for the specification of spatial relationships. The relations between programming and control in the case of multiple robot are examined. Finally, the paper describes the allocation of various tasks among a set of microprocessors sharing a common bus.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Vincent Hayward and Samad Hayati "Design Principles Of A Cooperative Robot Controller", Proc. SPIE 0851, Space Station Automation III, (31 October 1987);


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