PC based Position-Control of Multiple Robot Arms

Abstract

This paper presents the selection and control of multiple robot arms for industrial applications that require more than a single robot arm to achieve the task. We have used two robot arms with 6 Degrees of Freedom each to demonstrate the control for a ‘pick and place’ industrial application. The control of multiple robot arms in conjunction can be implemented in certain applications to effectively reduce the ‘mission time’. We have proposed a control and drive circuit for this purpose. The discrete control signals from the parallel port of a PC are used to control the robot arms and the control logic is implemented using ‘C’ programming language.