This paper is devoted to a manipulation theory for industrial robots. The proposed knowledge representation model is based on a simple algebraic formalism and is shown to be adequate and suitable for actual applications in the field of assembly robots and manipulators. A FORTRAN system is illustrated which supports the proposed model and is implemented on a LABEN 70 minicomputer used for on‐line control of the SUPERSIGMA multipurpose assembly robot developed at the Milan Polytechnic Artificial Intelligence Project. The experimental work done is reported.
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