Hostname: page-component-cd9895bd7-fscjk Total loading time: 0 Render date: 2024-12-29T14:45:05.648Z Has data issue: false hasContentIssue false
  • English
  • Français

Distance calculation for imminent collision indication in a robot System simulation*

Published online by Cambridge University Press:  09 March 2009

G. Hurteau  and
N. F. Stewart
G. Hurteau
Affiliation:
Département d'informatique et de recherche opérationnelle Université de Montréal C.P. 6128, Succ. A, Montréal, Québec (Canada) H3C 317
N. F. Stewart
Affiliation:
Département d'informatique et de recherche opérationnelle Université de Montréal C.P. 6128, Succ. A, Montréal, Québec (Canada) H3C 317
Get access Rights & Permissions [Opens in a new window]

Summary

Minimum distance algorithms may be used in robotic simulation programs to provide the user with the distances of approach of the manipulator to obstacles in the work environment; this is important for task planning using graphical simulation of configuration maps, and for the implementation of automatic detection of (imminent) collision in robot task development Systems that are based on a graphical simulation facility. In this paper we present algorithms that may be used for the calculation of distances between objects, not necessarily convex, that are made up of unions of convex polyhedra and cylindrically shaped objects (where the cross-section of the cylinder may be ellipsoidal, rather than circular).

Type
Research Article
Information
Robotica , Volume 6 , Issue 1 , January 1988 , pp. 47 - 51
Copyright
Copyright © Cambridge University Press 1988

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Kretch, S., “Robotic animation” Mechanical Engineering 32 (08, 1982).Google Scholar
2.Red, W.E., “Minimum distances for robot task simulation” Robotica 1, 231 (1985).CrossRefGoogle Scholar
3.Weck, M., Eversheim, W., Zuhlke, D. and Kalde, M., “Requirements for robot off-line programming shown at the example Robex” Advanced Software in Robotics (North Holland, Amsterdam, 1984).Google Scholar
4.Stauffer, R., “Robot System simulation” Robotics Today 6, No. 3, 81 (1984).Google Scholar
5.Maruyama, K., “A procedure to determine intersections between polyhedral objects” Intern. J. Computer and Information Sciences 1, 255 (1972).CrossRefGoogle Scholar
6.Muller, D.E. and Preparata, F.P., “Finding the intersection of two convex polyhedra” Theoretical Computer Science 7, 217 (1978).CrossRefGoogle Scholar
7.Brown, K.Q., “Fast intersection of half spaces” Technical Report CMU-CS-78–129 (Carnegie Mellon University Department of Computer Science, 1978).Google Scholar
8.Dobkin, D.P. and Edelsbrunner, H., “Space searching for intersecting objects” IEEE Foundations of Computer Science 387 (1984).Google Scholar
9.Hsiao, C. and Bai-yan, S., “Computer Control or coordinate movement with anthropomorphic two-arms” Computers in Industry 6, 109 (1985).CrossRefGoogle Scholar
10.Hopcroft, J.E., Schwartz, J.T. and Sharir, M., “Efficient detection of intersections among spheres” Intern. J. Robotics Research 2, 77 (1983).CrossRefGoogle Scholar
11.Intergraph, Robotics Today 20 (06, 1985).Google Scholar
12.Requicha, A.A.G. and Voelker, H.B., “Solid modeling: current status and research directions” IEEE Computer Graphics and Applications 25 (10, 1983).CrossRefGoogle Scholar
13.Hurteau, G., “Méthodes de prévention et de détection des collisions dans un simulateur robotique” M. Sc. Thesis (Département d'informatique et de recherche operationnelle, Université de Montréal, 1986).Google Scholar
14.Zoutendijk, G., Mathematical Programming Methods (North Holland, Amsterdam, 1976).Google Scholar
15.Lemke, C.E., On complementary pivot theory (Mathematics of the Decision Sciences, Part 1, American Mathematical Society, Providence, R.I., 1968).CrossRefGoogle Scholar
16.Luenberger, D.G., Introduction to Linear and Non-linear Programming (Addison-Wesley, New York, 1973).Google Scholar