A general dual-arm robotic simulation system and cooperative control research of multi-manipulator

Author

Mei, Ding ; Zengqi, Sun ; Bin, He

Author_Institution

Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China

fYear

1992

fDate

11-13 Aug 1992

Firstpage

23

Lastpage

28

Abstract

A dual-arm robotic simulation system is described. It can simulate dual-arm kinematics and dynamics, multi-manipulator cooperative control systems, trajectory planning, and typical tasks of robots. The package provides a dual-arm robotic language and a 3-D graphic display. To study the multi-manipulator cooperative control method more efficiently, it also provides a general user interface and an automatic programming system. The overall structure and a general simulation algorithm are outlined

Keywords

automatic programming; cooperative systems; dynamics; kinematics; path planning; robot programming; robots; software packages; user interfaces; 3-D graphic display; automatic programming system; dual-arm robotic language; dual-arm robotic simulation system; general user interface; multi-manipulator cooperative control; path planning; robot programming; software packages; trajectory planning; Automatic control; Control system synthesis; Control systems; Displays; Graphics; Kinematics; Packaging; Robotics and automation; Robots; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on

Conference_Location

Glasgow

ISSN

2158-9860

Print_ISBN

0-7803-0546-9

Type

conf

DOI

10.1109/ISIC.1992.225061

Filename

225061