Coordination of multiple robots via supervisory control

Author

Garg, Devendra P.

Author_Institution

Dept. of Mech. Eng., Duke Univ., Durhan, NC, USA

fYear

1991

fDate

13-15 Aug 1991

Firstpage

19

Lastpage

24

Abstract

A supervisory control problem for coordination of multiple robots is addressed. The coordination control strategies developed were applied to two IBM 7540 SCARA robots. A digital computer program operable on an IBM PS/2 System 80 provided multiple concurrent programming of the two robots. An interactive control strategy and a master-slave control strategy were designed, implemented, optimized, and tested. The results showed excellent trajectory adherence and repeatability for both control schemes

Keywords

multiprocessing programs; position control; robot programming; robots; IBM 7540 SCARA robots; IBM PS/2 System 80; coordination; interactive control strategy; master-slave control strategy; multiple concurrent programming; multiple robots; repeatability; supervisory control; trajectory adherence; Automatic control; Control systems; Hardware; Master-slave; Nonlinear dynamical systems; Robot control; Robot kinematics; Robotics and automation; Supervisory control; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on

Conference_Location

Arlington, VA

ISSN

2158-9860

Print_ISBN

0-7803-0106-4

Type

conf

DOI

10.1109/ISIC.1991.187327

Filename

187327