Coordination of multiple robots via supervisory control

Abstract

Ratcdmgs of llic I W I l t E t I n i~r n~~~~m~I 5 ) m p~u o r 01) lnlclligcni Coiiirol 13 -I 5 Augur1 1Y)l. Arlmgwn. \ ' q m u~ L.S A AbstractThis paper deals with a solution of supervisory control problem for coordination of multiple robots. 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. Interactive control strategy and master-slave control strategy were designed, implemented, optimized, and tested. The results showed excellent trajectory adhenmce and repeatability for both control schemes.