The Geometry of Interference With Application to Obstacle Avoidance

Autor:	Gary K. Matthew, Joseph Duffy, Carl D. Crane, Yong J. Choi
Rok vydání:	1993
Předmět:	Mechanics of Materials Computer science Mechanical Engineering Relative motion Obstacle Obstacle avoidance Coordinate system Geometry Manipulator Interference (wave propagation) Computer Graphics and Computer-Aided Design Simulation Computer Science Applications
Zdroj:	Journal of Mechanical Design. 115:300-305
ISSN:	1528-9001 1050-0472
Popis:	A mapping which transforms the relative displacements of one object with respect to a reference object into image points has been developed by interpreting the relative displacement in terms of affine coordinates. The mapping provides a novel mathematical tool that solves interference problems of objects in three-dimensional space. By use of this mapping, the geometrical condition of interference of objects is represented by simple inequalities. The inverse mapping provides the means of avoiding interference and can be utilized for articulation of robot arms so as to avoid collision with obstacles.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::d02feb139914b05cfe018ed7eb5f4d26 https://doi.org/10.1115/1.2919192 Zobrazit plný text záznamu