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RCCL has been used successfully in developing robot control applications in numerous research and industry facilities over the last several years. One of its strongest features is the ability to integrate real\u2010time sensor control into the manipulator task specification. RCCL primitives supply the trajectory generator with target points for motions in joint or Cartesian coordinates. Other primitives allow the code developer to specify on\u2010line functions that can modify the target points, or possibly cancel motion requests, in response to various sensor or control inputs. The design requirements of the trajectory generator are that it be able to integrate these on\u2010line modifications into the overall robot motion and provide a smooth path between adjacent motions even when sensor inputs make the future trajectory uncertain. \u00a9 1993 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620100305","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:21:20Z","timestamp":1183728080000},"page":"369-390","source":"Crossref","is-referenced-by-count":10,"title":["Real\u2010time trajectory generation in multi\u2010RCCL"],"prefix":"10.1002","volume":"10","author":[{"given":"John","family":"Lloyd","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vincent","family":"Hayward","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500407"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"J.Lloyd M.Parker andR.McClain \u201cExtending the RCCL programming environment to multiple robots and processors \u201d IEEE Conf. on Robotics and Automation Philadelphia PA 1988 pp.465\u2013469.","DOI":"10.1109\/ROBOT.1988.12095"},{"volume-title":"Multi\u2010RCCL user's guide","year":"1989","author":"Lloyd J.","key":"e_1_2_1_4_2"},{"key":"e_1_2_1_5_2","unstructured":"S.Hayati T.Lee E.Kahn andJ.Lloyd \u201cThe JPL telerobot manipulator control and mechanization sub\u2010system \u201d NASA Conf. on Space Telerobotics Pasadena CA 1989."},{"key":"e_1_2_1_6_2","first-page":"237","volume-title":"Real time control under UNIX for RCCL","author":"Lloyd J.","year":"1990"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"J. 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