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

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2 Author(s)
Henrich, D. ; Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ. ; Cheng, X.

A fast method for computing the collision vector for online collision detection with a multi-arm robot is presented. Manipulators and obstacles are modeled 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. Online, the dynamic hierarchies are adjusted to the current arm configuration. A comparison with previous methods showed an increased acceleration of the computations

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992