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Proceedings Paper

Fast intersection detection algorithm for PC-based robot off-line programming
Author(s): Christian H. Fedrowitz
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Paper Abstract

This paper presents a method for fast and reliable collision detection in complex production cells. The algorithm is part of the PC-based robot off-line programming system of the University of Siegen (Ropsus). The method is based on a solid model which is managed by a simplified constructive solid geometry model (CSG-model). The collision detection problem is divided in two steps. In the first step the complexity of the problem is reduced in linear time. In the second step the remaining solids are tested for intersection. For this the Simplex algorithm, which is known from linear optimization, is used. It computes a point which is common to two convex polyhedra. The polyhedra intersect, if such a point exists. Regarding the simplified geometrical model of Ropsus the algorithm runs also in linear time. In conjunction with the first step a resultant collision detection algorithm is found which requires linear time in all. Moreover it computes the resultant intersection polyhedron using the dual transformation.

Paper Details

Date Published: 9 November 1994
PDF: 11 pages
Proc. SPIE 2247, Sensors and Control for Automation, (9 November 1994); doi: 10.1117/12.193933
Show Author Affiliations
Christian H. Fedrowitz, Univ. Siegen (Germany)

Published in SPIE Proceedings Vol. 2247:
Sensors and Control for Automation
Markus Becker; R. W. Daniel; Otmar Loffeld, Editor(s)

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