Computing the generalized aspect graph for objects with movingparts

Algorithms for computing the aspect graph representation are generalized to include a larger, more realistic domain of objects known as articulated assemblies those objects composed of rigid parts with articulated connections allowed between parts. The generalization suggests two slightly different representations: one that directly summarizes the possible general views of the object and another (hierarchical) form summarizing the possible general configurations and their respective views. Algorithms are outlined for computing both representations. The generalized aspect graphs of assemblies formed using translational connections are examined