Fast distance computation for on-line collision detection with multi-arm robots

Abstract

For the on-line collision detection with a multi-arm robot a fast method for computing the so-called collision vector is presented. Manipulators and obstacles are modelled by sets of convex polytopes. Known distance algorithms serve as a foundation. To speed up the collision detection dynamic obstacles are approximated by geometric primitives and organized… (More)
DOI: 10.1109/ROBOT.1992.220063

Topics

5 Figures and Tables

Slides referencing similar topics