Geometry of interference with application to obstacle avoidance

Yong J. Choi, Carl D. Crane, Gary K. Matthew, Joseph Duffy

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

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
Pages327-336
Number of pages10
Publication statusPublished - 1990 Dec 1
Event21st Biennial Mechanism Conference - Chicago, IL, USA
Duration: 1990 Sep 161990 Sep 19

Other

Other21st Biennial Mechanism Conference
CityChicago, IL, USA
Period90/9/1690/9/19

Fingerprint

Collision avoidance
Geometry
Robots

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Choi, Y. J., Crane, C. D., Matthew, G. K., & Duffy, J. (1990). Geometry of interference with application to obstacle avoidance. 327-336. Paper presented at 21st Biennial Mechanism Conference, Chicago, IL, USA, .
Choi, Yong J. ; Crane, Carl D. ; Matthew, Gary K. ; Duffy, Joseph. / Geometry of interference with application to obstacle avoidance. Paper presented at 21st Biennial Mechanism Conference, Chicago, IL, USA, .10 p.
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year = "1990",
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Choi, YJ, Crane, CD, Matthew, GK & Duffy, J 1990, 'Geometry of interference with application to obstacle avoidance' Paper presented at 21st Biennial Mechanism Conference, Chicago, IL, USA, 90/9/16 - 90/9/19, pp. 327-336.

Geometry of interference with application to obstacle avoidance. / Choi, Yong J.; Crane, Carl D.; Matthew, Gary K.; Duffy, Joseph.

1990. 327-336 Paper presented at 21st Biennial Mechanism Conference, Chicago, IL, USA, .

Research output: Contribution to conferencePaper

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T1 - Geometry of interference with application to obstacle avoidance

AU - Choi, Yong J.

AU - Crane, Carl D.

AU - Matthew, Gary K.

AU - Duffy, Joseph

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N2 - 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.

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Choi YJ, Crane CD, Matthew GK, Duffy J. Geometry of interference with application to obstacle avoidance. 1990. Paper presented at 21st Biennial Mechanism Conference, Chicago, IL, USA, .