Symmetry equations are obtained for the rigidity matrix of a bar-joint
framework in R^d. These form the basis for a short proof of the Fowler-Guest
symmetry group generalisation of the Calladine-Maxwell counting rules. Similar
symmetry equations are obtained for the Jacobian of diverse framework systems,
including constrained point-line systems that appear in CAD, body-pin
frameworks, hybrid systems of distance constrained objects and infinite
bar-joint frameworks. This leads to generalised forms of the Fowler-Guest
character formula together with counting rules in terms of counts of
symmetry-fixed elements. Necessary conditions for isostaticity are obtained for
asymmetric frameworks, both when symmetries are present in subframeworks and
when symmetries occur in partition-derived frameworks.Comment: 5 Figures. Replaces Dec. 2008 version. To appear in IJCG
