Qualitative modelling of kinematic robots for fault diagnosis

  title={Qualitative modelling of kinematic robots for fault diagnosis},
  author={Hai-liang Liu and George Macleod Coghill and Haoxuan Xu},
This study presents an approach, the unit circle (UC), to qualitative representation of robots. A robot is described as a collection of constraints holding among time-varying, interval-valued parameters. The UC representation is presented, and the continuous motion of the end-effector is evaluated by the change of directions of qualitative angle and qualitative length. Analytical formulas of qualitative velocity and qualitative acceleration are derived. The characteristic mapping is introduced… CONTINUE READING


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