Design Principles Of A Cooperative Robot Controller

Vincent Hayward; Samad Hayati

doi:10.1117/12.942898

31 October 1987 Design Principles Of A Cooperative Robot Controller

Vincent Hayward, Samad Hayati

Proceedings Volume 0851, Space Station Automation III; (1987) https://doi.org/10.1117/12.942898
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

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.

Citation Download Citation

Vincent Hayward and Samad Hayati "Design Principles Of A Cooperative Robot Controller", Proc. SPIE 0851, Space Station Automation III, (31 October 1987); https://doi.org/10.1117/12.942898

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available