Title

The General Architecture of Adaptive Robotic Systems for Manufacturing Applications

Document Type

Article

Publication Date

4-2010

Publication Source

Robotics and Computer Integrated Manufacturing

Volume

26

Issue

5

Inclusive pages

461-470

DOI

http://dx.doi.org/10.1016/j.rcim.2010.03.002

Publisher

Pergamon Press

Place of Publication

United Kingdom

ISBN/ISSN

0736-5845

Peer Reviewed

yes

Abstract

Adaptive system often refers to the adaptive control system. In this paper, we discuss the adaptive system concept from an architectural perspective of the system. We use the robotic system as an example to illustrate the adaptive system concept, because the robotic system is a generic system underlying many manufacturing systems. Specifically, the paper presents our work on the development of a general architecture of the adaptive robotic system for manufacturing applications. The contribution of this paper includes: (i) elaboration of the concept of adaptive system and classification of means to make the system adaptive and (ii) formulation of a general architecture of the adaptive robotic system based on the criterion that the more system variants out of the architecture implies the more generality of the architecture. Throughout this paper, we use an industrial robotic system for illustration.

Keywords

Adaptive system; Design methodology; Adaptive robotic system; Modular robotic system; Adjustable robotic system

Disciplines

Engineering