Extending the RCCL programming environment to multiple robots and processors

Author

Lloyd, John ; Parker, Mike ; McClain, Rick

Author_Institution

Res. Center for Intelligent Machines, McGill Univ., Que., Canada

fYear

1988

Firstpage

465

Abstract

The Robot Control C Library (RCCL) is a system for developing robot control programs in a UNIX environment, and has proven to be useful in research applications. Work undertaken in expanding RCCL to handle multiple robots, and upgrading its implementation to a multiple-processor microVAX/UNIX system is reported. This includes (1) reworking the primitive set to allow for the specification of multiple robot actions; (2) modifying the trajectory generation mechanism so that several robots may be controlled and coordinated at once; and (3) redesigning the system interface on top of which RCCL is built to allow the creation of multiple real-time robot control tasks interfaced to UNIX

Keywords

operating systems (computers); programming environments; robots; RCCL programming environment; Robot Control C Library; UNIX environment; microVAX/UNIX system; primitive set; robot control programs; trajectory generation mechanism; Control systems; Equations; Force control; Libraries; Manipulators; Orbital robotics; Programming environments; Robot control; Robot kinematics; Transforms;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Conference_Location

Philadelphia, PA

Print_ISBN

0-8186-0852-8

Type

conf

DOI

10.1109/ROBOT.1988.12095

Filename

12095