NDLI: A model of hierarchical design for robotic manipulators

Content Provider	IEEE Xplore Digital Library
Author	Curtis, H. Fitzhorn, P.
Copyright Year	1987
Description	Author affiliation: Colorado State University (Curtis, H.)
Abstract	An interesting model of design is discussed and used to automatically design a subset of n-degree of freedom robotic manipulators. The interesting aspect of this model resides in its implementation using a hierarchical arrangement of multiple expert systems, governed and controlled by the analog of a project or design manager. This expert manager acts to divide the problem into functional units and pass information to lower level experts for resolution and convergence of the design. This paper presents the concept and investigates the number and type of expert systems required and the organization of those systems for the design of a subset of the robotic manipulators. The character and processes of the expert manager program are defined and explored. In the case of robotic design, subexpert systems may be dedicated to configuration selection, servo-motor selection, sizing the structural members, kinetic and kinematic calculations, etc. In addition, the knowledge, data base requirements and distribution are discussed. A methodology for conflict resolution between expert systems is proposed.
Starting Page	1110
Ending Page	1115
File Size	649139
Page Count	6
File Format	PDF
DOI	10.1109/ROBOT.1987.1087922
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1987-03-01
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Manipulators Expert systems Robotics and automation Control system synthesis Automatic control Project management Convergence Kinetic theory Kinematics
Content Type	Text
Resource Type	Article

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