Design and implementation of a dual-arm robot control system with multi-sensor integrating capability

An intelligent robotic system was developed for effectively controlling dual robot arms. The control system aids collision avoidance and coordination of the dual arms. The system has a multi-sensor integration capability. It responds to environmental sensors such as a vision sensor, a force sensor and a position encoder. The control system permits the human operator to communicate with the system via a teach box, a high-level language with a screen editor and menu-driven operational commands, which were specially designed for multiarm control. The control system was applied successfully to the assembly system using two SCARA type robot arms.<
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