群论及其在机器人装配中的应用

GROUP THEORY AND ITS APPLICATION IN ROBOT ASSEMBLY

本文介绍了群在机器人装配中的应用。首先简单介绍了机器人中常用的群及其基本性质；接着介绍了空间物体特征和表面参数的群表示；然后，讨论了如何用群表示装配工件相对位置关系和运动链；最后，介绍了群在机器人运动和装配规划中的应用。

This paper focuses on the application of group theory in robot assembly. First, the basic conception and characterstics of the group is introduced. Second, the expression of object characteristic and surface parameter using group is introduced. Thirdly, the way to express the position relation ship and kinematic chain of the space object using group is discussed. Finally, the application of group in robot assembly planning and robot kinematics was presented.