Hierarchical object models for efficient anti-collision algorithms

摘要: The author presents an offline programming system specially designed for complex robotic applications (e.g., intervention of redundant manipulators in a nuclear plant). It uses hierarchical CAD models solids and manipulators. These are derived from constructive solid geometry trees combine simple volume primitives with union or difference set operations. They offer different levels description the objects enable efficient computation local minima distance between points objects. By setting constraints on variation at these points, it is possible to produce collision-free trajectories achieving tasks Cartesian and/or joint parameter goals. >