Abstract
Many of the aspects related with the definition and development of a functional and algorithmic architecture for multiarm systems are dealt with in this chapter. Emphasis is given to the role played by each layer and to their composing basic functional blocks. In particular it is shown how such basic blocks can be effectively used to the aim of incrementally constructing complex cooperative tasks, via suitable and simple interconnecting rules. An example of Hw/Sw architecture supporting the entire functional and algorithmic architecture is also provided.
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Casalino, G., Angeletti, D., Bozzo, T., Cannata, G. (2001). Strategies for Control and Coordination within Multiarm Systems. In: Nicosia, S., Siciliano, B., Bicchi, A., Valigi, P. (eds) Ramsete. Lecture Notes in Control and Information Sciences, vol 270. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45000-9_1
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DOI: https://doi.org/10.1007/3-540-45000-9_1
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