Title :
A solid modelling system for robot action planning
Author :
Mirolo, Claudio ; Pagello, Enrico
Author_Institution :
Dept. of Math. & Inf., Udine Univ., Italy
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;
Journal_Title :
Computer Graphics and Applications, IEEE
