Construction of Robot Structure Design Support System by Constraint Logic Programming
Akira Aiba*, Shinichi Sato** and Shigeto Aramaki***
*Japan Information Processing Development Center, Research Institute for Advanced Information Technology, Shiba Tokyo Kaijo Bldg. 2F 3-3, Shiba 2-chome, Minato-ku, Tokyo, 105 Japan
**Systems Development Laboratory, Hitachi, Ltd., 1099 Ozenii, Asao-ku, Kawasaki, Kanagawa, 215 Japan
***Faculty of Engineering, Fukuoka University, Nanakuma 8-19-1, Jyonan-ku, Fukuoka-shi, Fukuoka, 814-01 Japan
In this paper, we show a validity of a new programming paradigm called constraint logic programming by constructing a robot structure design support system. The design process of a robot structure is divided into a fundamental structure design and a internal structure design. A fundamental structure design is a process that determines a framework of the robot such as a degree of freedom, a number of joint, etc. We mainly support a fundamental structure design. This design system is constructed by constraint logic programming language. The Buchberger algorithm is used to calculate the nonlinear equation in this language. Our design system generates an analysis program independent of robot structure easily. The result of analysis is also gotten in the form of expression. The constraint can be appended incrementally. By constructing such a system, we can achieve remarkable reduction of designer’s work in design process.
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