Qualitative Representation of Kinematic Robots

This paper proposes a qualitative representation for kinematic robots. First, qualitative geometric primitives are introduced by combining a qualitative orientation component and qualitative translation component using normalisation. A position in Cartesian space can be mathematically described by the scalable primitives. Secondly, the qualitative positions of the components of a robot are derived in terms of qualitative geometry primitives. Thirdly, the representation shows how to connect both quantitative and qualitative representation of the robot. On the one hand, the integration of normalisation and domain theory generates normalised labels to introduce the cognitive parameters into the proposed representation. On the other hand, the normalized labels of this representation can be converted to a quantitative description using a proposed generator, whose numeric outputs provide a connection to numeric techniques (e.g. interpolation).