Efficient dynamic collision detection using expanded geometry models

摘要: Collision detection for articulated robots along possible trajectories is a basic requirement path and motion planning systems. We present an approach using static collision tests at selected locations merely to check complete trajectories. This done by slightly expanded geometry models. develop simple formula estimating the distance between two positions of link within kinematic chain. In case straight lines in configuration space, efficient approximation algorithm introduced. It calculates next step joint space be close maximum length. The scheme presented allows effort required model-based with line graphs c-space reduced least factor 4 six degrees freedom, compared typically used 'classical' method.