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引用次数: 2
摘要
研究了多机器人协调的监督控制问题。将所开发的协调控制策略应用于两台IBM 7540 SCARA机器人。可在IBM PS/2 System 80上运行的数字计算机程序为两个机器人提供了多个并发编程。设计、实现、优化和测试了交互控制策略和主从控制策略。结果表明，两种控制方案均具有良好的轨迹依从性和可重复性。
Coordination of multiple robots via supervisory control
A supervisory control problem for coordination of multiple robots is addressed. The coordination control strategies developed were applied to two IBM 7540 SCARA robots. A digital computer program operable on an IBM PS/2 System 80 provided multiple concurrent programming of the two robots. An interactive control strategy and a master-slave control strategy were designed, implemented, optimized, and tested. The results showed excellent trajectory adherence and repeatability for both control schemes.<>
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