Self-collision detection in spatial closed chains

Journal of Mechanical Design

Volumn 130, Issue 9, 2008, Pages 0923051-0923059

  Ketchel, John S ^a   Larochelle, Pierre M ^a  

^a Florida Institute of Technology ^*  (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CHAINS; CIRCULAR CYLINDERS; KINEMATICS; MACHINE DESIGN; OBJECT DETECTION; RIGID STRUCTURES;

CLOSED KINEMATIC CHAINS; CLOSED-CHAINS; FINITE LENGTH; MOTION-PLANNING; NOVEL ALGORITHM; NOVEL METHODOLOGY; RIGID BODY; SELF-COLLISION DETECTION; THREE DIMENSIONS; THREE-DIMENSIONAL MOTION;

MOTION PLANNING;

EID: 77955186801     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2965363     Document Type: Article

References (23)

1. Merlet, J. P., and Daney, D., 2006, "Legs Interference Checking of Parallel Robots over a Given Workspace or Trajectory", Proceedings of the 2006 IEEE International Conference on Robotics and Automation, IEEE, New York.
2. Corngold, N., 2002, "Kinetic on the Collision Probability for the Infinite Cylinder", Ann. Nucl. Energy, 29 pp. 1151-1155.
3. Chang, C., Chung, M., and Bien, Z., 1990, "Collision-Free Motion Planning for Two Articulated Robot Arms Using Minimum Distance Functions", Robotica, 8, pp. 137-144.
4. Lee, S., and Chirikjian, G., 2004, "Helix-Helix Packing in Protiens: The Kinematics of Interacting Line Segments", International Symposium on Advances in Robot Kinematics, Sestri Levante, Italy, pp. 199-210.
5. 2005, http://spiritking.tripod.com/cdtut.htm.
6. Zsombor-Murray, P. J., 1992, "Spatial Visualization and the Shortest Distance Between Two Lines Problem", Proceedings of the 5th ASEE International Conference ECGDG, Melbourne, Australia.
7. Byungmoon, K., and Rossignac, J., 2003, "Collision Prediction", ASME J. Comput. Inf. Sci. Eng., 3, pp. 295-301.
8. Kim, B., and Rossignac, J., 2003, "Collision Prediction for Polyhedra Under Screw Motion", Proceedings of the Eighth ACM Symposium on Solid Modeling and Applications, pp. 4-10.
9. Pennock, G., and Meehan, P., 2001, "Geometric Insight Into the Dynamics of a Rigid Body Using The Spatial Triangle of Screws", Proceedings of the ASME 2001 Design Engineering Technical Conferences and Computers and Information Conference, Paper No. DET2001/DAC-21114.
10. Xavier, P., 2000, "Implict Convex-Hull Distance of Finite-Screw-Swept Volumes", Proceedings of the 2002 IEEE International Conference on Robotics and Automation.
11. Ketchel, J., 2006, "Collision Detection of Cylindrical Rigid Bodies Using Line Geometry", Ph. D. Dissertation, Florida Institute of Technology, Melbourne, Florida.
12. Gilbert, E. G., and Foo, C. P., 1990, "Computing the Distance Between General Convex Objcts in Three-Dimensional Space", Proceedings of the 1990 IEEE International Conference on Robotics and Automation, IEEE, New York.
13. Caselli, S., Reggiani, M., and Mazzoli, M., 2002, "An Experimental Evaluation of Collision Detection Packages for Robot Motion Planning", IEEE International Conference on Intelligent Robots and Systems, Lausanna, Switzerland.
14. Fischer, I., 1999, Dual-Number Methods In Kinematics, Statics and Dynamics, CRC LLC, Boca Raton, FL.
15. McCarthy, J. M., 2000, Geometric Design Of Linkages, Springer-Verlag, New York.
16. Duffy, J., 1980, Analysis of Mechanisms and Robot Manipulators, Wiley, New York.
17. Larochelle, P., 1998, "Spades: Software for Synthesizing Spatial 4C Mechanisms", Proceedings of the ASME 1998 Design Engineering Technical Conferences and Computers and Information Conference.
18. Murray, A. P., and Larochelle, P., 1998, "A Classification Scheme for Planar 4R, Spherical 4R, and Spatial RCCC Linkages to Facilitate Computer Animation", Proceedings of the ASME 1998 Design Engineering Technical Conferences and Computers and Information Conference, Paper No. DET1998/MECH-5887.
19. Kihonge, J., Vance, J., and Larochelle, P., 2002, "Spatial Mechanism Design in Virtual Reality With Networking", ASME J. Mech. Des., 124(1), pp. 435-440.
20. Larochelle, P., 2000, "Circuit and Branch Rectification of the Spatial 4C Mechanism", Proceedings of the ASME 2000 Design Engineering Technical Conferences and Computers and Information Conference, Paper No. DET2000/MECH-14053.
21. Ketchel, J., and Larochelle, P., 2004, "Line Based Collision Detection of Cylindrical Rigid Bodies", Proceedings of the 2004 ASME International Design Engineering Technical Conferences, ASME, New York, Paper No. MECH-57473.
22. Ketchel, J., and Larochelle, P., 2005, "Collision Detection of Cylindrical Rigid Bodies Using Line Geometry", Proceedings of the ASME 2005 Design Engineering Technical Conferences and Computers and Information Conference, Paper No. DETC05/MECH-84699.
23. Ketchel, J., and Larochelle, P., 2006, "Collision Detection of Cylindrical Rigid Bodies for Motion Planning", Proceedings of the 2006 IEEE International Conference on Robotics and Automation, IEEE, New York.