Open AccessA Group Theoretic Approach to Assembly Planning
Author(s) -
Popplestone Robin J.,
Liu Yanxi,
Weiss Rich
Publication year - 1990
Publication title -
ai magazine
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.597
H-Index - 79
eISSN - 2371-9621
pISSN - 0738-4602
DOI - 10.1609/aimag.v11i1.825
Subject(s) - group (periodic table) , symmetry (geometry) , principal (computer security) , task (project management) , computer science , symmetry group , robot , order (exchange) , group theory , algebra over a field , theoretical computer science , geometry , mathematics , artificial intelligence , pure mathematics , engineering , systems engineering , physics , finance , quantum mechanics , economics , operating system
High‐level robotic assembly planning is concerned with how bodies fit together and how spatial relationships among bodies are established over time. To generate an assembly task specification for robots, it is necessary to represent the geometric shapes of the assembly components in a computational form. One of the principal aspects of shape representation that is relevant for assembly tasks is the symmetry of the shape. Group theory is the standard mathematical tool for describing symmetry. The interaction between algebra and geometry within a group theoretic framework has provided us with a unified computational treatment of reasoning about how parts with multiple contacting features fit together.