(16) Robot Design Support System

	Machine:     Multi PSI
	Environment: PIMOS
	Language:    GDCC
	Source Code: 33 KB
	Documents:   Manual (English)

Overview

A system for supporting robot structure design.

Configuration

The system consists of the following modules. They have been written by the parallel constraint programming language GDCC.
  1. kinematics program(Kinematics)
  2. statics program(Statics)
  3. program for determinant calculation(Determinant)

Function

On conventional robot design process the programs manipulating them has been written one by one according to fundumental structure of robot set up by robot designer. Therefore, it has been difficult to support fundumental structure design efficienitly. We introduce the paradigm of constraint logic programming to robot engineering. Using the flexibility of constraint logic programing to robot engineering, any robot structure can be handled only by changing a query to the system, and thefore there is no need to write an individual program for analysis and evaluation. The system will generate constraints dependent on a robot being designed, and solve the constraints for analysis and evaluation. The main functions of the system are as follows.

  1. automatical generation of the constraint expressions of kinematics and statics to any structure of robot
  2. solution of direct and inverse kinematics
  3. calculation of torque of each joint
  4. calculation of manipulability

FTP

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