Refine
Document Type
- Article (2) (remove)
Has Fulltext
- yes (2)
Keywords
- CODET (2) (remove)
Faculty / Organisational entity
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.