Kali: An Environment for the Programming and Control of Cooperative Manipulators

The paper describes the design of a controller for cooperative robots designed at McGill University in a collaborative effort with the Jet Propulsion Laboratory. The first part of the paper discusses the background and motivation for multiple arm control. Then, a set of programming primitives, which permit a programmer to specify cooperative tasks are described. Motion primitives specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues are discussed and our implementation briefly described. The relations between programming and control in the case of multiple robot are examined. Finally, the paper describes the allocation of various tasks among a multiprocessor computer.

[1]  Matthew T. Mason,et al.  Compliance and Force Control for Computer Controlled Manipulators , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[2]  Vincent Hayward,et al.  Implementation of RCCL, A Robot Control C Library On A microVAX II , 1987, Other Conferences.

[3]  Vincent Hayward,et al.  Robot Manipulator Control under Unix RCCL: A Robot Control "C" Library , 1986 .

[4]  D. Kossman,et al.  A multi-processor robot control system for RCCL under iRMX , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[5]  Rachid Alami,et al.  Programming of flexible assembly cell: Task modelling and system integration , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[6]  Vincent Hayward,et al.  Model Based Trajectory Planning Using Preview , 1988, Other Conferences.

[7]  Yuan F. Zheng,et al.  Joint torques for control of two coordinated moving robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[8]  S. Hayati.  Hybrid position/Force control of multi-arm cooperating robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[9]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[10]  P. Dauchez,et al.  True cooperation of robots in multi-arms tasks , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[11]  E. Aboaf,et al.  Living with the singularity of robot wrists , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[12]  Claude Reboulet,et al.  Hybrid Position Force Control Implementation on a Parallel Manipulator , 1990 .

[13]  Oussama Khatib,et al.  Motion and force control of robot manipulators , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[14]  J. Kenneth Salisbury,et al.  Articulated Hands , 1982 .

[15]  C. J. Clark,et al.  A comparison of control laws for a cooperative robot system , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[16]  S. A. Hayati.  Dynamics and control of coordinated multiple manipulators , 1987 .