An expert system for real-time control of the SIR-3 robotic system

An expert system of path design was applied to the SIR=3 robotic system. The expert system used the rule-based concept and was written in Turbo Pascal programming language run by an IBM AT. The path design 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 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