Fuzzy qualitative robot kinematics

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

Research output: Contribution to journalArticle

70 Citations (Scopus)


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 languageEnglish
Pages (from-to)808-822
Number of pages15
JournalIEEE Transactions on Fuzzy Systems: a Publication of the IEEE Neural Networks Council
Issue number3
Publication statusPublished - Jun 2008


  • weighted averaging operators
  • neural-networks
  • aggregation
  • system
  • sets

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