DocumentCode
871164
Title
A solid modelling system for robot action planning
Author
Mirolo, Claudio ; Pagello, Enrico
Author_Institution
Dept. of Math. & Inf., Udine Univ., Italy
Volume
9
Issue
1
fYear
1989
Firstpage
55
Lastpage
69
Abstract
The characteristics of several solid representation schemes are discussed with respect to their possible use in robot action planning systems. The World Modeler (WM), a solid modeler developed by combining the generalized cylinder approach with constructive solid geometry, is presented. An efficient algorithm for computing collision among convex polyhedrons, that utilizes the internal geometric data structure of the World Modeler is explained.<>
Keywords
engineering graphics; robot programming; solid modelling; WM; World Modeler; collision computation; constructive solid geometry; convex polyhedrons; generalized cylinder approach; internal geometric data structure; robot action planning systems; solid modelling system; solid representation schemes; Animation; Computational geometry; Councils; Extraterrestrial measurements; Humans; Motion planning; Programming environments; Robot programming; Solid modeling; Visualization;
fLanguage
English
Journal_Title
Computer Graphics and Applications, IEEE
Publisher
ieee
ISSN
0272-1716
Type
jour
DOI
10.1109/38.20334
Filename
20334
Link To Document