Title :
A rule-based expert control for the SIR-3 robotic system
Author :
Teoh, E.K. ; Wong, C.Y.
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
Abstract :
An expert system for path design was applied to the SIR-3 robotic system. The expert system used the rule-based concept and was written in the Turbo Pascal programming language running on an IBM AT. The path designed was based on the constraint of a rectangular obstacle. The simulation results showed that the path generated by the expert system was as desired and defined in the knowledge base. The application of the expert system with a P-integrator controller to the real-time control of the SIR-3 was investigated. The expert system generated the path and the P-integrator reduced the dynamic error of the motion on the path. The two problems encountered for the application were the incompatibility of units and the zig-zag path of the motion. The first problem was solved by a unit conversion. The second problem was solved by implementing a cubic polynomial-time trajectory on the designed path
Keywords :
IBM computers; expert systems; microcomputer applications; planning (artificial intelligence); robots; IBM AT; P-integrator controller; SIR-3 robotic system; Turbo Pascal; cubic polynomial-time trajectory; path design; rectangular obstacle; rule-based expert control; unit incompatibility; zig-zag path; Adaptive control; Automatic control; Control systems; Expert systems; Knowledge based systems; Logic; Manipulators; Robot control; Robotics and automation; Service robots;
Conference_Titel :
Industrial Electronics Society, 1990. IECON '90., 16th Annual Conference of IEEE
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-87942-600-4
DOI :
10.1109/IECON.1990.149327
