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

Computing Science

Inst Ind Res

Research output: Contribution to journal › Article

72 Citations (Scopus)

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 or 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
Number of pages	15
Journal	IEEE Transactions on Fuzzy Systems: a Publication of the IEEE Neural Networks Council
Volume	16
Issue number	3
DOIs	https://doi.org/10.1109/TFUZZ.2007.905922
Publication status	Published - Jun 2008

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Keywords

weighted averaging operators
neural-networks
aggregation
system
sets

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10.1109/TFUZZ.2007.905922

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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 or 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.",

keywords = "weighted averaging operators, neural-networks, aggregation, system, sets",

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

note = "Authors own and employers publicly accessible webpages Preprint - Must be removed upon publication of final version and replaced with either full citation to IEEE work with a Digital Object Identifier or link to article abstract in IEEE Xplore or Authors post-print Preprint - Set-phrase must be added once submitted to IEEE for publication ({"}This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible{"}) Preprint - Set phrase must be added when accepted by IEEE for publication ({"}(c) 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.{"}) Preprint - IEEE must be informed as to the electronic address of the pre-print Postprint - Publisher copyright and source must be acknowledged (see above set statement) Publisher's version/PDF cannot be used Publisher copyright and source must be acknowledged",

year = "2008",

month = jun,

doi = "10.1109/TFUZZ.2007.905922",

language = "English",

volume = "16",

pages = "808--822",

journal = "IEEE Transactions on Fuzzy Systems: a Publication of the IEEE Neural Networks Council",

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AU - Coghill, George M.

N1 - Authors own and employers publicly accessible webpages Preprint - Must be removed upon publication of final version and replaced with either full citation to IEEE work with a Digital Object Identifier or link to article abstract in IEEE Xplore or Authors post-print Preprint - Set-phrase must be added once submitted to IEEE for publication ("This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible") Preprint - Set phrase must be added when accepted by IEEE for publication ("(c) 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.") Preprint - IEEE must be informed as to the electronic address of the pre-print Postprint - Publisher copyright and source must be acknowledged (see above set statement) Publisher's version/PDF cannot be used Publisher copyright and source must be acknowledged

PY - 2008/6

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N2 - 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 or 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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KW - sets

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JF - IEEE Transactions on Fuzzy Systems: a Publication of the IEEE Neural Networks Council

IS - 3

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Fuzzy qualitative robot kinematics

Abstract

Bibliographical note

Keywords

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