Multi-arm robotics in a practical application under transputer based control

Algorithms for control and planning of a close-operating two-armed system, engaged in a surface test or coverage application, are described. Planning is carried out in an optimum trajectory sense, enabling the arms to avoid collisions through an efficient model of both tool and arm. Task planning chooses the best strategy of minimum-time movement for task execution and is robust in all cases. A simplified model of the task is used for demonstration purposes. Results are given for a practical run of the system along with a description of the hardware. Transputers are used to control and link the system, as well as parallel planning prior to execution. The system has proved effective and will be useful for exploring further practical usage of multiarm systems