Advanced Control Structures: A Transputer-Based Multi-Robot System

This paper presents the implementation of an efficient motion planner for a two-robot system operating in a unified environment. The distributed formulation of the planner is mapped on a network of T800 transputers and caters for the needs of minimum-time and collision free robot motion in real time. Practical implementation of the planner is reported for two co-ordinated RTX robots and performance results are given of an execution run

A High-Performance Multi-Arm Environment: Theoretical Aspects and Practical Implementation

This paper reports on the development of a multi-arm robotic system, where the practical implementation of the system involves motion co-ordination of two multi-joint RTX robots with six degrees-of-freedom, hosted by a SPARC-IPC workstation. A planning scheme is introduced to provide accurate and co-ordinated collison-free motion. In addition, taking into account the need for high productivity in industrial environments, minimum-time movements are imposed by increasing the manipulators' performance to a maximum, thus providing a high-performance workcell. A real-time case study is included to show the validity and efficiency of the system