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On synchronized proportional motion of multi-robot systems with stepper motors and shared controller

Published online by Cambridge University Press:  09 March 2009

Yuval Lirov
Yuval Lirov
Affiliation:
Department of Systems Science and Mathematics, Washington University, St. Louis, MO 63130 (USA)
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Abstract

SUMMARY

The synchronized action of robots is important in many applications, especially in the manufacturing processes. An algorithm to obtain a smooth synchronized movement of the multiple-robot system is presented for the case when only one processor is available to control all of the robots that incorporate stepper motors. The origin of this algorithm stems from the digital differential analyzer used in machine tool control.

Type
Articles
Information
Robotica , Volume 4 , Issue 3 , July 1986 , pp. 151 - 154
Copyright
Copyright © Cambridge University Press 1986

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References

1.Seim, T.A., Applying Microprocessor to Machine Tool Design Part 1, Computer Design 86, (03, 1980); Part 2, Computer Design, 90 (April, 1980).Google Scholar
2.Anderson, B.R., ‘Proving Programs Correct’ (John Wiley & Sons, New-York, 1979).Google Scholar