A Fuzzy Qualitative Framework for Connecting Robot Qualitative and Quantitative Representations

Abstract-- This paper proposes a novel framework for describing articulated robot kinematics motion with the goal of providing a unified representation by combining symbolic or qualitative functions and numerical sensing and control tasks in the context of intelligent robotics. First, fuzzy qualitative robot kinematics is revisited which provides theoretical preliminaries for the proposed robot motion representation. Secondly, a fuzzy qualitative framework based on clustering techniques is presented to connect numerical and symbolic robot representations. Built on the k - AGOP operator (an extension of the Ordered Weighted Aggregation operators), k-means and Gaussian functions are adapted to model a multimodal density of fuzzy qualitative kinematics parameters of a robot in both Cartesian and joint spaces, on the other hand, a mixture regressor and interpolation method are employed to convert Gaussian symbols into numerical values. Finally, simulation results in a PUMA 560 robot demons...

• Type: Journal
• Year: 2008
• Where: TFS
• Authors: Honghai Liu
• Keywords: Robot, Robot Kinematics, Robot Kinematics Motion, TFS 2008