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

Author

Teoh, E.K. ; Wong, C.Y.

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore

fYear

1991

fDate

11-14 Jun 1991

Firstpage

2709

Abstract

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

Keywords

computerised control; expert systems; polynomials; real-time systems; robot programming; IBM AT; P-integrator controller; SIR-3 robotic system; Turbo Pascal programming language; computerised control; cubic polynomial time trajectory; dynamic error; expert system; knowledge base; path design; real-time control; rectangular obstacle; rule-based concept; simulation; Adaptive control; Automatic control; Control systems; Expert systems; Knowledge based systems; Logic; Manipulators; Real time systems; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems, 1991., IEEE International Sympoisum on

Print_ISBN

0-7803-0050-5

Type

conf

DOI

10.1109/ISCAS.1991.176105

Filename

176105