A multi-robot programming and control system

The goal of this thesis was to simultaneously control in real-time two robot arms sharing a common workspace. To support this goal, it was first necessary to develop a robot programming and control system. Thus, many aspects of robotics were explored including robot programming, kinematics, path control, collision detection, and collision avoidance. The goal was partially achieved in that the arms share a common workspace without colliding but the path computation does not run in an acceptable time frame for real-time usage.