Minimum distances for robot task simulation
- 1 October 1983
- journal article
- research article
- Published by Cambridge University Press (CUP) in Robotica
- Vol. 1 (4) , 231-238
- https://doi.org/10.1017/s0263574700002162
Abstract
SUMMARY Minimum distance algorithms allow users of robot simulation programs to maneuver manipulation arms around and between workspace obstacles. Additionally, they can be used to generate configuration maps for path planning of the manipulator “point” through a more abstract configuration space. This paper summarizes an algorithm for determining minimum distances between two polyhedral elements. Examples of configuration space maps and Cartesian stepping techniques demonstrate algorithmic utility for robot path planning. A number of accelerating strategies which depend on a heirarchical spatial representation of manipulator and workspace elements maintain reasonable CPU times for the simulation user.Keywords
This publication has 2 references indexed in Scilit:
- The Configuration Space Approach to Robot Path PlanningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1984
- An algorithm for planning collision-free paths among polyhedral obstaclesCommunications of the ACM, 1979