a geometric reasoning system for moving an object while maintaining contact with others
This paper concerns the motion of moving a polyhedral object while maintaining contact with a set of stationary polyhedral objects. A method is developed for deriving a sequence of compliant-guarded motions in order to move an object from an initial configuration to a final configuration while it is in contact. This sequence is derived from a sequence of spatial relationships among the features of the objects. The construction of a graph of spatial relationships representing the space where the object is in contact with its environment is described. This is done using a geometric reasoning system which is able to find a relationship equivalent to a conjunction of two relationships and to construct the new features among which the new relationship holds.
reasoning systems object paper motion method sequence order configurability spatial relationships feature graph space environments