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.<>
Coordination of multiple robots via supervisory control
01.01.1991
457751 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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