A real-time robot arm collision detection system

Original publisher: [Blacksburg, Va.] : Dept. of Computer Science, Virginia Polytechnic Institute and State University ; [Greenbelt, Md. : NASA Goddard Space Flight Center ; Springfield, Va. : For sale by the National Technical Information Service, 1990] OCLC Number: (OCoLC)61662032 Subject: Robots -- Motion. Excerpt: ... our updatealgorithmmaycheckseveratlimesto seeif a givenpair hasbeentested ). Optimizationof the neighborfinding processresultsfrom locatingneighborsonly in the directionof object motion. In fact, oftenthe numberof neighborsprocessedcan bereducedto zero. If a movingobject's boundingbox remains completely within a single node, then there is no need to check for entry into any of the neighboring nodes. Determining if a bounding box lies completely within a node requires at most six comparisons. This quick check can save a significant amount of processing time, particularly if many small objects are moving ( e.g. the fingers of a gripper ). The amount of computation needed for an update when an object moves into a neighboring node can be further reduced. When an object moves into a neighbor, the algorithm described above will insert the object into that node and perform any required splitting. If the neighbor is split, the algorithm will attempt to recursively insert the object into all of the neighbors ' children ( and possibly their offspring ). Due to restrictions in robot motion, we only need to update the part of the neighbor which lies closest to the original node. So, the object is inserted into only the leaf descendents of the neighbor which lie on the common face, ed [, e, or corner between the two nodes. When a single object lies in many nodes, there will be some overlap in the neighbors of these nodes. This presents a problem for our algorithm because it will visit the same neighboring node multiple times. For example, if an object moves into a node X which is a neighbor to three of the nodes in which it currently resides, then our alg...