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


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


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