Geometry of interference with application to obstacle avoidance

Y. J. Choi, C. D. Crane, G. K. Matthew, J. Duffy

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


A mapping which transforms the relative displacements of one object with respect to a reference object into image points has been developed by interpreting the relative displacement in terms of affine coordinates. The mapping provides a novel mathematical tool that solves interference problems of objects in three-dimensional space. By use of this mapping, the geometrical condition of interference of objects is represented by simple inequalities. The inverse mapping provides the means of avoiding interference and can be utilized for articulation of robot arms so as to avoid collision with obstacles.

Original languageEnglish
Pages (from-to)300-305
Number of pages6
JournalJournal of Mechanical Design, Transactions of the ASME
Issue number2
Publication statusPublished - 1993

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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