A fast procedure for computing incremental growth distances

被引：3

作者：

Hong, SM ^{[1
]}

Yeo, JH

Park, HW

机构：

[1] Kyungpook Natl Univ, Sch Elect & Elect Engn, Taegu 702701, South Korea

[2] Hyundai Heavy Ind Co Ltd, Yongin 449716, Kyunggi Do, South Korea

[3] Brain Co Ltd, Hitachi, Ibaraki 3191221, Japan

来源：

ROBOTICA | 2000年 / 18卷

关键词：

growth distance; incremental distance; interference detection; robotic simulations;

D O I：

10.1017/S0263574799001939

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A fast numerical procedure is presented for computing growth distances between a pair of polytopes in three dimensional space that move incrementally along specified smooth paths. The procedure carrys out the growth distance evaluations efficiently by predicting and verifying contact configurations between a pair of grown polytopes. In the prediction and verification the procedure uses vertex and facial characterizations of polytopes and exploits their geometric adjacency information. The computation time, in average, is very small and does not depend significantly on the geometric complexity of two polytopes. A numerical example is presented to demonstrate the applicability of the procedure to interference detection in robotic simulations.

引用

页码：429 / 441

页数：13