Title :
Constraint reduction based on a Lie algebra for kinematic analysis of assembly
Author :
Tanaka, Fumiki ; Murai, Masatoshi ; Kishinami, Takeshi ; Tokunaga, Hitoshi
Author_Institution :
Graduate Sch. of Eng., Hokkaido Univ., Sapporo, Japan
Abstract :
In assembly modeling, it is necessary to capture the relative positions of components in the assembly. Many problems are related to constraint representation and its manipulation, such as constraint reduction. This paper formulates the constraints as groups of rigid body transformations and proposes a constraint reduction procedure based on the Lie algebra. This approach is then applied to the constraint representation and reduction in an assembly model. The reduced kinematic model of assembly can be derived by the proposed method for kinematic analysis
Keywords :
Lie algebras; assembly planning; constraint theory; kinematics; production control; reduced order systems; Lie algebra; assembly modeling; constraint reduction; kinematic analysis; manipulation; reduced model; Algebra; Assembly; Costs; Equations; Kinematics; Motion analysis; Solid modeling;
Conference_Titel :
Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on
Conference_Location :
Fukuoka
Print_ISBN :
0-7803-7004-X
DOI :
10.1109/ISATP.2001.929066
