GROUP THEORY AND ITS APPLICATION IN ROBOT ASSEMBLY

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.