Using An Efficient Collision Detector In The Solution Of The Find-Path Problem Of Industrial Robots

G. Sawatzky; H. El-Zorkany

doi:10.1117/12.950793

11 December 1985 Using An Efficient Collision Detector In The Solution Of The Find-Path Problem Of Industrial Robots

G. Sawatzky, H. El-Zorkany

Proceedings Volume 0579, Intelligent Robots and Computer Vision IV; (1985) https://doi.org/10.1117/12.950793
Event: 1985 Cambridge Symposium, 1985, Cambridge, United States

Abstract

In this paper an efficient approach to collision detection is proposed. Its incorporation in two approaches for the solution of the find-path problem is also presented. Collision detector is based on representing objects by a hierarchy of bounding spheres. Features of the collision detector are that computation time depends on the proximity of the objects and that the method concentrates its efforts on the parts of objects most likely to have geometric interference as determined by collision information. The use of this representation for collision detection in two approaches for the solution of the find-path problem, namely a generate and test approach and a free space representation based approach, are presented. The paper is organized as follows. First, a review of the literature is given. Second, details of the collision detector and its incorporation in a solution for the find-path problem are presented. Third, the implementation of this approach on a LISP machine and the preliminary performance tests performed using a PUMA 560 robot are discussed. Finally, conclusions and potential extensions are outlined.

Citation Download Citation

G. Sawatzky and H. El-Zorkany "Using An Efficient Collision Detector In The Solution Of The Find-Path Problem Of Industrial Robots", Proc. SPIE 0579, Intelligent Robots and Computer Vision IV, (11 December 1985); https://doi.org/10.1117/12.950793

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