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An Adaptive Feedback Scheduling Algorithm for Robot Assembly and Real-Time Control Systems

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1 Author(s)
Peijiang Yuan ; Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont.

In this paper, we present an adaptive feedback controller for nonlinear multi-robot systems with unknown execution times and task dependencies. An adaptive self-tuning PID controller is discussed. A real-time force/torque leading controller for industrial multi-robot cooperation is addressed. Previously reported impedance control and hybrid control approaches are reviewed. Trajectory and velocity following issues for industrial manipulators are considered by using an error-reduction admittance control method. A number of experiments are presented. Experimental results show that this adaptive feedback controller can be used in industrial multi-robot coordination and force-guided assembly. With the proposed adaptive feedback scheduling algorithm, the system performance and the deadline miss ratio can be improved compared with the traditional feedback scheduling algorithm

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

Oct. 2006