Coordinated control of cooperating robotic manipulators

摘要

Abstract The feasibility and controllability of coordinated robotic systems are considered. Against a background of cooperating robots, multiple robot control is discussed. Economic and other motivations for using coordinated robots are outlined and the difficulties encountered in the use of such schemes are identified. Several algorithms; for coordinated control or cooperating robots arc discussed. Finally, computer simulations of cooperating robots performing a variety of tasks are presented to illustrate applications of the proposed algorithms.