Qualitative modelling of planar robots

Abstract

This study proposes an approach, the unit circle (UC), to qualitative modelling of a planar robot. A robot is described as a collection of constraints holding among time-varying, interval-valued variables. The UC representation is presented, 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 UC representation of robots concerns a global assessment of system behaviours, it can be used for the purpose of monitoring, diagnosis, and explanation of physical systems.