Intelligent tasks scheduler

This paper presents a brief description of an intelligent system, used in the control of load exchange between two robotic manipulators. An intelligent tasks scheduler, that uses mainly fuzzy logic to define which task will be executed in a certain instant, controls the whole system. Tasks are used in actions and in system control. In a low level, each manipulator joint motion is controlled by an intelligent control system. Several joint motions compose action tasks. In a higher level, cooperation between both manipulators is attained through control tasks. A state diagram defines the possible action tasks sequences. According to acquired joint position information the intelligent tasks scheduler determines, through fuzzy rules, which is the correct action task sequence