Polynomial time collision detection for manipulator paths specified by joint motions
نویسنده
چکیده
An exact collision detection algorithm is described and analyzed. The time bound considers the complexity of the solids, number of joints and number of distinct collision configurations. A bound for the number of collision configurations can be taken directly from the input data. The algorithm is based on exact treatment of trigonometric expressions. The representation of trigonometric constants is discussed in
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عنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 7 شماره
صفحات -
تاریخ انتشار 1991