Graphs of kinematic constraints

Book Chapter (1991)


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.