Title :
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
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;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12095
