Polynomial Time Collision Detection for Manipulator Paths Specified by Joint Motions

Achim Schweikard

doi:10.1109/70.105397

Polynomial Time Collision Detection for Manipulator Paths Specified by Joint Motions

Achim Schweikard^*

^*Korrespondierende/r Autor/-in für diese Arbeit

Institut für Robotik und Kognitive Systeme

16 Zitate (Scopus)

Abstract

An exact collision detection algorithm is described and analyzed. The time bound considers the complexity of the solids, the number of joints, and the number of distinct collision configurations. A bound for the number of collision configurations can be taken directly from the input data. The algorithm is based on an exact treatment of trigonometric expressions. The representation of trigonometric constants is discussed in an appendix.

Originalsprache	Englisch
Zeitschrift	IEEE Transactions on Robotics and Automation
Jahrgang	7
Ausgabenummer	6
Seiten (von - bis)	865-870
Seitenumfang	6
ISSN	1042-296X
DOIs	https://doi.org/10.1109/70.105397
Publikationsstatus	Veröffentlicht - 01.01.1991

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10.1109/70.105397

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abstract = "An exact collision detection algorithm is described and analyzed. The time bound considers the complexity of the solids, the number of joints, and the number of distinct collision configurations. A bound for the number of collision configurations can be taken directly from the input data. The algorithm is based on an exact treatment of trigonometric expressions. The representation of trigonometric constants is discussed in an appendix.",

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AB - An exact collision detection algorithm is described and analyzed. The time bound considers the complexity of the solids, the number of joints, and the number of distinct collision configurations. A bound for the number of collision configurations can be taken directly from the input data. The algorithm is based on an exact treatment of trigonometric expressions. The representation of trigonometric constants is discussed in an appendix.

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Polynomial Time Collision Detection for Manipulator Paths Specified by Joint Motions

Abstract

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