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:.
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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.) .

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