This paper presents a sewing cell based on an industrial sewing machine, and with two robots controlling the sewing operation in real-time. The software architecture and the communication structure are presented. Widely available software and hardware technologies were used to build a highly flexible system for operation and control prototyping. This paper focuses on analyzing the realtime characteristics of the control system. Experiments were conducted to measure the delays in different parts of the system in order to gain an understanding of the real-time performance and to show that the chosen system is capable to make use of the robot's high update frequency and low tracking delay.
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