Scribd
Upload
59 views4 pages

Adaptive Robots

The document describes an expert system for designing adaptive control programs for robots. The expert system includes modules for modeling robot dynamics, automatically synthesizing control algorithms, estimating process quality, and adapting controller structures and parameters. It allows designers to formulate design tasks and carry out the design process through dialogue. The expert system was used in designing control systems for manufacturing robots handling powder metallurgy, casting, and measurement tasks. It can also be used for training robotics specialists.

Uploaded by

bharath8421
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
59 views4 pages

Adaptive Robots

The document describes an expert system for designing adaptive control programs for robots. The expert system includes modules for modeling robot dynamics, automatically synthesizing control algorithms, estimating process quality, and adapting controller structures and parameters. It allows designers to formulate design tasks and carry out the design process through dialogue. The expert system was used in designing control systems for manufacturing robots handling powder metallurgy, casting, and measurement tasks. It can also be used for training robotics specialists.

Uploaded by

bharath8421
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

EXPERT SYSTEM OF THE CONTROL PROGRAMS DESIGNING

OF ADAPTIVE ROBOTS

A . V. Timofe j e v , N. V . Ivanova

The Leningrad I n s t i t u t e of
A i r ca f t

In s t r u m e n t a t ion

For

increase

e f f i c i e n c y and r e l i a b i l i t y of

technological systems (ACS) in partially However working of

r o b o t s it i s n e c e s s a r y t o have t h e a d a p t i v e c o n t r o l

11.21.

They e n s u r e s t a b i i i t y f u n c t i o n of

f o r robots

u n c e r t a i n and i n c o n s t a n t c o n d i t i o n s C d e s i g n i n g of A S out expert system

manufacturing.

i s a c a m p l i c a t e d t a s k C3-53. Therefore

(ES)

f o r a u t o m a t i z a t i o n of t h e p r o c e s s

d e s i g n i n g of a l g o r i t h m s and programs of a d a p t i v e c o n t r o l has g r e a t importance.


T h e ES of d e s i g n i n g may be used b o t h

f o r working

out

t h e ACS o f r o b o t s and t h e y programming, and f o r r a i s i n g t h e q u a l i t y


of

specialists

training in robotic. I t includes of

The e x p e r t system s t r u c t u r e

p i c t u r e d on f i g . 1 .

t h e following b a s i c elements:

91

t h e i n t e r a c t i v e i n t e r f a c e supplying communication of e x p e r t base

u s e r w i t h p e r s o n a l computer on t h e d e s i g n language; - date

and knowledge b a s e i n c l u d i n g a l g o r i t h m i c models of dynamics and ACS, they p a r a m e t e r s and o t h e r s . - solver realized synthesis different v a r i a n t s ACS , t h e

i m i t a t i o n a n a l y s i s on t h e i n d i . c a t o r s of q u a l i t y ;

- the
-lJK&!eSt.al.i 1 1 . 9

systems

cf

e x p l a n a t i o n and i n s p e c t i o n r e a l i z e d cf

argume:nt.at.ion a n d e x p l a ~ i a t i o ~ i t h e d e s i g n p r o c e c s i!i

CH2964-5/91/0000-0912$01.00 01991 IEEE

912

and

t h e knowledge c o n t r o l of u s e r . The t e c h n o l o g y and b a s i c s t a g e s designing process o f r o b o t s p i c t u r e d on

of t h e

FQ.2.

After

f o r m u l a t i o n and i n t e r p r e t a t i o n of d e s i g n i n g t a s k (DT)

are r e a l i z e d
q u a l i t y of

s t r u c t u r e and parameter s y n t h e s i s of ACS u s e r value t h e A S visual C

a t t h e form of r o b o t s t r a n s i t i o n p r o c e s s e s i n i m i t a t i o n
exploitation. If quality of ACS

c o n d i t i o n s o? r o b o t s

is n o t

s a t i s f a c t o r i l y t h e changing ( c o r r e c t i o n ) s t r u c t u r e o r parameters of ACS are r e a l i z e d . In r e s u l t o f c o m p a r a t i v e a n a l y s i s t h e b e s t v a r i a n t

of programmer p r o v i s i o n 1s s e l e c t e d .

T h i s programmer p r o v i s i o n

is
The

t r a n s m i t t e d on langusge of r e a l i z a t i o n i n m u l t i p r o c e s s o r ES f u n c t i o n i n two regimes:

ACS.

i n t h e regime of t r a i n i n g and i n t h e designer the puts

regime of d e s i g n i n g .

In t h e regime of t r a i n i n g t h e elements various

models of r o b o t s dyiiarnics and t h e h o w l e d g e base that i n c l u d e (compound of

of
types

ACS i n t h e

of " c o n t r o l l e r "

c o n t r o l l e r , dynamics c o n t r o l l e r , relay c o n t r o l l e r , e t c . ) ,
(

or "programmator"

t h e rnodules of a u t o m a t i c s y n t h e s i s of programmed modules for estimating t h e f o r self

r o b o t s movements), of " e s t i m a t o r " ( t h e

q u a l i t y of t r a n v i t i q n a l p r o c e s s ) , o f " a d a p t o r " ( t h e modules

r e g u l a t i o n c o n t r o l t h e s t r u c t u r e or parameters o f c o n t r o l l e r ) and of " i d e n t i f i c a t o r " ( t h e modules f o r c o n d i t i o n s of robot) t h e demands t o ACS, estimating

the

parameters

and forms and

In t h e regime of d e s i g n i n g t h e d e s i g n e r formulates the task on designing

a c c o m p l i s h e s t h e p r o c e s s of The ES robot

designing i n t h e dialogue r e g h e .

was

used w h i l e d e s i g n i n g and i m i t a t i o n s i m u l a t i n g of
ACS

manipulators

for t e c h n o l o g i c a l r o b o t i c complexes of
u n d e r p r e s s u r e a n d laser p r o c e s s i n g and robots-transporter

powdered m e t a l l u r g y , of c a s t i n g and a l s o

f o r robots-measurer

[ 7 ] . The

experience s p e c i a l i s t s t r a i n i n g instrumentation i s considered.

i n Leningrad I n s t i t u t e o f aircraft

91 3

I
Fig. 1.

ITRAINING

SYSTEM

&
TESTING KNOWLKDGE

The

strutter

of e x p e r t s y s t e m

'

I 1

I
TRANSLATION DKSICNING DKC I S ION

- - - -1

914

REFERENCES
1. A . V . Timofejev. P r i n c i p l e s a n d a l g o r i t h m s

for d e v e l o p i n g a d a p t i v e
LPI

c o i i t r o l s y s t e m s for robots ( i n R u s s i a n ) . Robototekhnika, L., (1977).


2 . A.V.Timof&jev. C o n t r o l of r 0 b u t . s !in Y c s s i a n ) . L . ,LGU(1985).

3 . A.V.Tiinofe'je\..

Systems of a r t i f i c i a l i n t e l l i g e n c e f o r CIM.

:in

R u s s i a n ) , L . LDNTP(lSC4:.
4 . V.V.I~:ozlov, A.'!.Timofejev a n d .I Yurevich. Technique a n d means of

i n d u s t r i a l robot a d a p t i v e c o n t r o l . P r o c . 9 - t h ISIP,USA, Washingtoll


(197.:
, '

5. G.A.Guliaev, J . I(. Zotov, A . ' ? . T i m o f e j e v .


m~i:t.l.inir.r-opiocessirrg

Computer-aided

design

co!it.ro:
(

for FMS. 1 Symposium "Robotic and


1986).
of r o b o t s programming and

FMS"

IFAC/~FIP/IMACS/Suzdal

6 . A.V.Timofejev.

D i a l ~ ~ p u z i:rsigning

adaptive

cliiitro! systems. 1Y

Y u g o s l a v i a - S o v i a t Symposium on t h e

a p p l i e d r o b o t i c and flexible a u t o i n a t i o n . Novi S a d ( 1 9 8 8 ) .

7. A.V.Timofejev.

Adapt.ive r o b o t i c complexes. L .

Mashinostroenue. (1385.) .

915

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy