at Google ScholarTitle data
Henrich, Dominik ; Cheng, Xiaoqing:
Fast Distance Computation for On-line Collision Detection with Multi-Arm Robots.
In:
Proceedings 1992 IEEE International Conference on Robotics and Automation. -
Nice, France
,
1992
. - pp. 2514-2519
DOI: https://doi.org/10.1109/ROBOT.1992.220063
Project information
| Project title: |
Project's official title Project's id SKALP No information CODET No information PARO No information |
|---|
Abstract in another language
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 distance algorithms serve as a foundation. To speed up the collision detection dynamic obstacles are approximated by geometric primitives and organized in hierarchies. Online, the dynamic hierarchies are adjusted to the current arm configuration. A comparison with previous methods showed an increased acceleration of the computations.
Further data
| Item Type: | Article in a book |
|---|---|
| Refereed: | Yes |
| Institutions of the University: | Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III > Chair Applied Computer Science III - Univ.-Prof. Dr. Dominik Henrich |
| Result of work at the UBT: | No |
| DDC Subjects: | 000 Computer Science, information, general works > 004 Computer science |
| Date Deposited: | 12 Mar 2025 11:00 |
| Last Modified: | 12 Mar 2025 11:00 |
| URI: | https://eref.uni-bayreuth.de/id/eprint/92804 |