Abstract
Abstract This paper describes a robot assembly task planner that processes the knowledge of the working environment and generates a sequence of general, or robot independent commands. By means of acquiring the world knowledge from the CAD systems and generating these commands, a robot should be able to automatically perform the task. The reasoning behind the decomposition from task level to mid level, and from the mid level to the general robot level planning will be developed. The mathematical expressions which allow for the relating of assembly situations to the individually generated subtasks and consequent proofs of the effect of such statements will also be discussed.
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