Type selection of robot manipulators using fuzzy reasoning in robot design system

Author

Inoue, Kenji ; Takano, Masaharu ; Sasaki, Ken

Author_Institution

Dept. of Precision Machinery Eng., Tokyo Univ., Japan

Volume

2

fYear

1993

fDate

26-30 Jul 1993

Firstpage

926

Abstract

A method for the selection of a suitable type of robot manipulator for a given task using fuzzy reasoning is proposed. Various types of robot have different characteristics of the performances such as the shape and size of the workspace, the accuracy, the speed, and the weight capacity. Therefore, it is necessary to select the robot type with suitable performances for the given task in the design of the robot. The proposed method selects the most suitable robot type for the task, in the same way as a design expert. This method consists of the following steps; (1) The design expert´s knowledge of the characteristics of the performances of each robot type is expressed as a fuzzy fact in the database. (2) The operator analyzes the task and obtains the performances required for it, pressed as fuzzy rules. (3) The degree of suitability for the task of each robot type is obtained from the knowledge concerning the performances of the robot type and the performances required for the task by fuzzy reasoning

Keywords

manipulators; database; fuzzy fact; fuzzy reasoning; robot design system; robot manipulator type selection; suitability degree; Computer aided manufacturing; Design automation; Design engineering; Fuzzy reasoning; Machinery; Manipulators; Motion analysis; Performance analysis; Robots; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583255

Filename

583255