SIR-3机器人系统基于规则的专家控制

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society Pub Date : 1990-11-27 DOI:10.1109/IECON.1990.149327

E. K. Teoh, C. Y. Wong

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引用次数: 0

摘要

将路径设计专家系统应用于SIR-3机器人系统。专家系统使用基于规则的概念，并在IBM AT上运行Turbo Pascal编程语言编写。设计的路径是基于矩形障碍物的约束。仿真结果表明，专家系统生成的路径符合期望，并在知识库中定义。研究了带p -积分器控制器的专家系统在SIR-3的实时控制中的应用。专家系统生成路径，p -积分器减小了路径上运动的动态误差。应用程序遇到的两个问题是单位的不兼容和运动的曲折路径。第一个问题是通过单位转换解决的。第二个问题通过在设计的路径上实现三次多项式时间轨迹来解决。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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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.<>

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来源期刊

[Proceedings] IECON '90: 16th Annual Conference of IEEE Industrial Electronics Society

CiteScore

1.40

自引率

0.00%

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