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This paper describes a basic design of cooperative control system for multiple robot arms . In the system two robot arms and a vision sub-system have their own node controllers connected by a computer network. Cooperative control software developed is embedded in each node controll er. Node software is written by object oriented programming technique . System model is constructed as a basis to represent and interpret cooperative task . To provide uniform measure to get external information of modeled objects in the real world , virtual information source-sensorlink-is designed. Real information sources distributed among node locations are transparently accessed by sensorlink . Task requirements imposed on the system are resolved to inner regulative laws . When motion trajectory of the task constrains two arms relatively , the laws leave degrees of freedom for actions of arms to give an alternative way of fulfillment . The example task executed is to push a button on the box held by one arm with the other's hand tip . Two arms move hands to suffice the laws using visual information through sensorlink . Then local node trouble in keeping the law-joint stop caused by given workspace-can be avoided using unconstrained degrees of freedom coop eratively.

Development of cooperative trajectory control system for two robots on sensory data.