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    Adaptive Robots

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    bharath8421
    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.

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    Adaptive Robots

    Uploaded by

    bharath8421
    35 views4 pages
    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.

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    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.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    35 views4 pages

    Adaptive Robots

    Uploaded by

    bharath8421
    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.

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    of 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

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