Experimental testbed for cooperative robotic manipulators

Abstract

The robotic testbed facility within Rensselaer's Center for Intelligent Robotic Systems for Space Exploration consists of two PUMA robot manipulators, each mounted on a moving platform. Each platform has a tilt and rotate capability and can move along a two rail linear track. One purpose of this system is to demonstrate the coordination of two arms in relative motion to each other. The system is also useful for investigating the integration problems that occur in an environment that is heavily dependent upon the acquisition, transmission, and processing of data in the form of information, knowledge, and control commands.