Concurrent processing in cooperating multi-arm task planning, simulation and real-time control

Cooperating arm configurations include isolated robotic cells, robots with overlapping workspaces and also robots working on a cooperative manipulation task. All require detailed planning for coordination but the latter configuration is particularly intensive in processing and planning requirements. The paper provides an overview of the multi-manipulator research at the Queen´s University and highlights the significance of concurrent processing and parallel algorithms in a number of key areas. These range from high level collision avoidance strategies and optimisation of limb movements down to individual joint control