A rule-based expert control for the SIR-3 robotic system

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