A group-theoretic approach to the computation of symbolic part relations

Author

Thomas, Federico ; Torras, Carme

Author_Institution

Inst. de Cibernetica, Barcelona, Spain

Volume

4

Issue

6

fYear

1988

fDate

12/1/1988 12:00:00 AM

Firstpage

622

Lastpage

634

Abstract

When a set of constraints is imposed on the degrees of freedom between several rigid bodies, finding the configuration or configurations that satisfy all these constraints is a matter of special interest. The problem is not new and has been discussed, not only in kinematics, but also more recently in the design of object-level robot programming languages. In this last domain, several languages have been developed, from different points of view, that are able to partially solve the problem. A more general method is derived than those previously proposed that were based on the symbolic manipulation of chains of matrix products, using the theory of continuous groups

Keywords

group theory; industrial robots; robot programming; symbol manipulation; continuous groups; group theory; industrial robots; object-level robot programming languages; rigid bodies; symbol manipulation; symbolic part relations; Assembly systems; Design automation; Kinematics; Man machine systems; Manufacturing automation; Manufacturing processes; Robot motion; Robot programming; Robotic assembly; Robotics and automation;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Journal of

Publisher

ieee

ISSN

0882-4967

Type

jour

DOI

10.1109/56.9300

Filename

9300