An on-line mobility model for robotic assemblages using orthogonal physical constraints

A symbolic reasoning system is implemented which allows a wide class of assembly products to be reasoned about in all worlds which lead to a correctly assembled product. External sources of metric knowledge and expertise are described which provide entirely symbolic input to the model, which then infers the incremental mobility of the assemblage as it is built. This produces an online relational ATMS structure which can participate in flexible assembly systems in a number of roles. The model may direct the manipulation processes and answer hypothetical questions about the effects of manipulating the assemblage. By explicating the motion-part classes that the model can reason about, it is possible to provide metaknowledge about those classes which are beyond the bounds of the representation. This allows the system to participate more effectively in a framework of other domain experts