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Legs Interference Checking of Parallel Robots over a Given Workspace or Trajectory
Abstract : We are considering a 6 d.o.f. Gough platform that has to move within a given workspace or on a trajectory. The legs of the robot are assumed to be constituted of a set of finite cylindrical elements and we address the problem of determining if any pair of such element will intersect during the robot motion. Collision conditions may be written mathematically according to various equivalent formulations. We show however that these formulations are not numerically equivalent and exhibit an efficient interference checking algorithm based on interval analysis that allows to check 6D workspace or arbitrary time-function trajectories for interference.
Cited literature [8 references]
https://hal.inria.fr/inria-00000195
Contributor : Jean-Pierre Merlet Connect in order to contact the contributor
Submitted on : Friday, September 2, 2005 - 10:02:54 AM
Last modification on : Friday, February 4, 2022 - 3:12:28 AM
Long-term archiving on: : Thursday, April 1, 2010 - 10:18:39 PM
Contributor : Jean-Pierre Merlet Connect in order to contact the contributor
Submitted on : Friday, September 2, 2005 - 10:02:54 AM
Last modification on : Friday, February 4, 2022 - 3:12:28 AM
Long-term archiving on: : Thursday, April 1, 2010 - 10:18:39 PM