Real-time analysis of a multi-robot sewing cell

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 real-time 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.