A Distributed Control and Simulation System for Dual Arm Mobile Robot

In order to realize the dual arm mobile robot control and simulation, a distributed robotic system is presented. The system provides the robot´s model building, path planning, robot task planning, simulation and actual robot control functions in an indoor environment. This paper is focused on two major issues: the distributed system´s modularity and the key technologies based on the robot´s key-values in robot construction and multi-robot simulation. Experiments were conducted in order to compare the performances of the proposed system with the performances of a former centralized system. The results show that the distributed system uses less system resources, has better real time performances and satisfies the requests of dual arm mobile robot.