Title :
Coordination of multiple robots via supervisory control
Author :
Garg, Devendra P.
Author_Institution :
Dept. of Mech. Eng., Duke Univ., Durhan, NC, USA
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;
Conference_Titel :
Intelligent Control, 1991., Proceedings of the 1991 IEEE International Symposium on
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-0106-4
DOI :
10.1109/ISIC.1991.187327
