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

摘要

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