Some Reflections on Knowledge Based System Modeling - Mathematical Aspects:
Applications to Symbolic (and Geometric) Modeling of Robot Arms

Jochen Pfalzgraf
Computer Science Institute
University of Salzburg
Salzburg, Austria

In this contribution we would like to embed  the topic of the special session
"ACA in Robotics" in a larger framework as indicated in the title.  First we
present some thoughts about knowledge based systemmodeling (``almost
everything'' is knowledge based modeling ...) from a mathematical perspective
(general aspect: looking for ``the right'' language to formulate a given
problem and try to solve it).  Then we focus on modeling robot arms as
kinematic chains and discuss mathematical and symbolic computation aspects
which arise naturally in that field.