Qualitative physics for robot task planning. II. Kinematics of mechanical devices

For pt.I see ibid., p.487-93 (1991). As augmentations to syntactical task planning, kinematic models facilitate the specification of robot-level motion strategies for mechanism-oriented manipulation tasks. The paper presents a qualitative geometric reasoning approach to the analysis of robot task kinematics. The qualitative approach permits computationally efficient, approximate, solution of kinematic problems without using exact information on the geometry of mechanisms and provides a basis for the functional simulation of robot manipulation.<
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