Paljug, Eric2023-05-222023-05-221991-02-062007-08-09https://repository.upenn.edu/handle/20.500.14332/7320The Two Robotic Arm Coordination System (TRACS) of the GRASP Lab is designed to perform experiments in dynamic two arm control. The system is comprised of two PUMA 250 robot arms with modified controllers, a PA-AT host computer and an AMD 29000 high speed floating point processor board. This manual describes the system software architecture and the software interfaces between the system elements. It is intended to aid in developing software for the system.Report