In industry, variable working environments requested the appearance of robot systems. Nevertheless, robot systems don't fulfill the requirements enough for user to satisfy.
In this thesis the various kinds of problems in multi-arm control such as load carrying capacity, work boundary, and stable handling are considered. Especially, speed problem in computation is solved by new approach named a "PROJECTION METHOD". This method is composed of the conversion of coordinate system and the special representation of orientation. It is much more efficient in calculation speed due to the characteristics of representation method compared with homogeneous transformation.
In applications of projection method for multi-robot systems, kinematics is solved by the proposed method. Also 3 dimensional collision avoidance and cooperative control are considered using this method.
Experimental results are also presented for verifying the proposed algorithms and methods for multi-arm control
