IRI - Graphs of kinematic constraints

Publication

Graphs of kinematic constraints

Book Chapter (1991)

Book Title

Computer-Aided Mechanical Assembly Planning

Publisher

Kluwer Academic Publishers

Pages

81-109

Doc link

http://books.google.com/books?id=eSAB3rzhFbsC&lpg=PA163&ots=D6o790gg1i&dq=%22Computer-Aided%20Mechanical%20Assembly%20Planning%22&pg=PP1#v=onepage&q&f=false

File

Download the digital copy of the doc pdf document

Authors

Thomas, Federico

Abstract

When a set of kinematic constraints are imposed between several rigid bodies finding out the set of 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 in the design of object level robot programming languages for assembly tasks.

Scientific reference

F. Thomas. Graphs of kinematic constraints. In Computer-Aided Mechanical Assembly Planning, 81-109. Kluwer Academic Publishers, 1991.