Extending the RCCL programming environment to multiple robots and processors
- 6 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 465-469 vol.1
- https://doi.org/10.1109/robot.1988.12095
Abstract
The Robot Control C Library (RCCL) is a system for developing robot control programs in a UNIX environment, and has proven to be useful in research applications. Work undertaken in expanding RCCL to handle multiple robots, and upgrading its implementation to a multiple-processor microVAX/UNIX system is reported. This includes (1) reworking the primitive set to allow for the specification of multiple robot actions; (2) modifying the trajectory generation mechanism so that several robots may be controlled and coordinated at once; and (3) redesigning the system interface on top of which RCCL is built to allow the creation of multiple real-time robot control tasks interfaced to UNIX.<>Keywords
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