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Fast Distance Computation for On-line Collision Detection with Multi-Arm Robots

  • For the online 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 in hierarchies. On-line, the here introduced Dynamic Hierarchies are adjusted to the current arm configuration. A comparison with previous methods shows an increased acceleration of the computations.

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Author:Dominik Henrich, Xiaoqing Cheng
URN (permanent link):urn:nbn:de:hbz:386-kluedo-9625
Document Type:Article
Language of publication:English
Year of Completion:1992
Year of Publication:1992
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2000/03/29
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Collections:AG RESY
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011