IEEE - Institute of Electrical and Electronics Engineers, Inc. - Fast distance computation for on-line collision detection with multi-arm robots

Author(s): Henrich, D. ; Cheng, X.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1992
Conference Location: Nice, France, France
Conference Date: 12 May 1992
ISBN (Paper): 0-8186-2720-4
DOI: 10.1109/ROBOT.1992.220063
Regular:

A fast method for computing the collision vector for online collision detection with a multi-arm robot is presented. Manipulators and obstacles are modeled by sets of convex polytopes. Known... View More

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