Title :
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
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;
Conference_Titel :
Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-0546-9
DOI :
10.1109/ISIC.1992.225061
