Fuzzy qualitative robot kinematics

Honghai Liu; David J. Brown; George M. Coghill

doi:10.1109/TFUZZ.2007.905922

Fuzzy qualitative robot kinematics

Honghai Liu, David J. Brown, George M. Coghill

Research output: Contribution to journal › Article › peer-review

Abstract

We propose a fuzzy qualitative (FQ) version of robot kinematics with the goal of bridging the gap between symbolic or qualitative functions and numerical sensing and control tasks for intelligent robotics. First, we revisit FQ trigonometry, and then derive its derivative extension. Next, we replace the trigonometry role in robot kinematics using FQ trigonometry and the proposed derivative extension, which leads to a FQ version of robot kinematics. FQ transformation, position, and velocity of a serial kinematics robot are derived and discussed. Finally, we propose an aggregation operator to extract robot behaviors with the highlight of the impact of the proposed methods to intelligent robotics. The proposed methods have been integrated into XTRIG MATLAB toolbox and a case study on a PUMA robot has been implemented to demonstrate their effectiveness.

Original language	English
Pages (from-to)	808-822
Journal	IEEE Transactions on Fuzzy Systems
Volume	16
Issue number	3
DOIs	https://doi.org/10.1109/TFUZZ.2007.905922
Publication status	Published - Jun 2008

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title = "Fuzzy qualitative robot kinematics",

abstract = "We propose a fuzzy qualitative (FQ) version of robot kinematics with the goal of bridging the gap between symbolic or qualitative functions and numerical sensing and control tasks for intelligent robotics. First, we revisit FQ trigonometry, and then derive its derivative extension. Next, we replace the trigonometry role in robot kinematics using FQ trigonometry and the proposed derivative extension, which leads to a FQ version of robot kinematics. FQ transformation, position, and velocity of a serial kinematics robot are derived and discussed. Finally, we propose an aggregation operator to extract robot behaviors with the highlight of the impact of the proposed methods to intelligent robotics. The proposed methods have been integrated into XTRIG MATLAB toolbox and a case study on a PUMA robot has been implemented to demonstrate their effectiveness.",

author = "Honghai Liu and Brown, {David J.} and Coghill, {George M.}",

year = "2008",

month = jun,

doi = "10.1109/TFUZZ.2007.905922",

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AU - Coghill, George M.

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AB - We propose a fuzzy qualitative (FQ) version of robot kinematics with the goal of bridging the gap between symbolic or qualitative functions and numerical sensing and control tasks for intelligent robotics. First, we revisit FQ trigonometry, and then derive its derivative extension. Next, we replace the trigonometry role in robot kinematics using FQ trigonometry and the proposed derivative extension, which leads to a FQ version of robot kinematics. FQ transformation, position, and velocity of a serial kinematics robot are derived and discussed. Finally, we propose an aggregation operator to extract robot behaviors with the highlight of the impact of the proposed methods to intelligent robotics. The proposed methods have been integrated into XTRIG MATLAB toolbox and a case study on a PUMA robot has been implemented to demonstrate their effectiveness.

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JO - IEEE Transactions on Fuzzy Systems

JF - IEEE Transactions on Fuzzy Systems

IS - 3

ER -

Fuzzy qualitative robot kinematics

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