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ROBOT CONTROL ON SYMBOLIC TRAJECTORY GENERATION AND ATOMIC MOTION BEHAVIOURS

Intelligent connection of numeric data and symbolic or cognitive function plays a crucial role in AI robotics. This problem is also defined as symbol grounding or perceptual anchoring problem in different contexts. In this paper we consider this problem from fundamental robot kinematics, Qualitative kinematics of planar robots has been proposed in this paper based on aggregation operators and fuzzy qualitative trigonometry. Aggregation operators are employed to cluster a certain number of links into a link component in order to overcome the state explosion of fuzzy qualitative technique. On the other hand, fuzzy qualitative trigonometry replaces the role of conventional trigonometry in robotic kinematics. The proposed approach allows qualitative control of a planar robot without changing its motion control module. A case study has been given to demonstrate the effectiveness of the proposed approach. The proposed approach can be extended to robot kinematics in 3D space.