Abstract
In this chapter, the development of an open architecture multi-robot system is studied. The environment consists of five serial-link robot manipulators operated using embedded control computers. The robot control computers are connected together through a network of supervisory computers. A preemptive multi-tasking Real Time Operating System (RTOS) running on the supervisory computers is used to perform supervisory and cooperative tasks involving multiple robots. The software environment allows for controlling the motion of one or more robots and their interaction with other devices. Development of modular components is discussed in this chapter along with typical laboratory procedures. The environment can be used to develop software for various robotic applications such as scheduling robotic tasks, cooperative manipulation, collision avoidance, internet-based telerobotics, and other networked robotic applications.
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