DocumentCode :
2417696
Title :
An Extension to Fuzzy Qualitative Trigonometry and Its Application to Robot Kinematics
Author :
Liu, Honghai ; Brown, David J.
Author_Institution :
Univ. of Portsmouth, Portsmouth
fYear :
0
fDate :
0-0 0
Firstpage :
1111
Lastpage :
1118
Abstract :
We propose an extension of fuzzy qualitative trigonometric derivatives to fuzzy qualitative trigonometry (FQT). First, we revisit fuzzy qualitative trigonometry, and then derive its derivative extension. Next, we replace the trigonometry role in robot kinematics using FQT and the proposed extension, which leads to a general version of robotic kinematics. Fuzzy qualitative transformation, position and velocity of a robot are derived and discussed. Finally, we highlight the impact of the proposed methods to robotics, especially the issue of closing the gap between low-level sensing & control tasks and symbolic cognitive functions, which is one of key open problems for AI robotics [1]. Simulation results are provided to support the theoretical improvement.
Keywords :
fuzzy reasoning; robot kinematics; FQT; control tasks; fuzzy qualitative trigonometry; low-level sensing; robot kinematics; symbolic cognitive functions; Artificial intelligence; Cognitive robotics; Fuzzy reasoning; Fuzzy sets; Fuzzy systems; Manipulators; Mobile robots; Robot kinematics; Robot sensing systems; Space technology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Fuzzy Systems, 2006 IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-9488-7
Type :
conf
DOI :
10.1109/FUZZY.2006.1681849
Filename :
1681849
Link To Document :
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