The KALI multi-arm robot programming and control environment

摘要: The KALI distributed robot programming and control environment is described within the context of its use in Jet Propulsion Laboratory (JPL) telerobot project. purpose to provide a flexible for coordinated multi-arm robots. Flexibility, both hardware configuration software, desired so that it can be easily modified test various concepts control, e.g., force sensor integration, teleoperation, shared control. In environment, user programs written C language describe trajectories multiple manipulators with aid function libraries. A system considered as one motion system. plans trajectory controlled Cartesian frame associated describes positions respect frame. Smooth are achieved through blending successive path segments. manipulator load dynamics during generation given interface limits not exceeded.