Geometry of interference with application to obstacle avoidance

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

Geometry of interference with application to obstacle avoidance

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

Department of Mechanical Engineering

Research output: Contribution to conference › Paper › peer-review

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 language	English
Pages	327-336
Number of pages	10
Publication status	Published - 1990
Event	21st Biennial Mechanism Conference - Chicago, IL, USA Duration: 1990 Sept 16 → 1990 Sept 19

Other

Other	21st Biennial Mechanism Conference
City	Chicago, IL, USA
Period	90/9/16 → 90/9/19

All Science Journal Classification (ASJC) codes

Engineering(all)

Cite this

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title = "Geometry of interference with application to obstacle avoidance",

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.",

author = "Choi, {Yong J.} and Crane, {Carl D.} and Matthew, {Gary K.} and Joseph Duffy",

year = "1990",

language = "English",

pages = "327--336",

note = "21st Biennial Mechanism Conference ; Conference date: 16-09-1990 Through 19-09-1990",

}

TY - CONF

T1 - Geometry of interference with application to obstacle avoidance

AU - Choi, Yong J.

AU - Crane, Carl D.

AU - Matthew, Gary K.

AU - Duffy, Joseph

PY - 1990

Y1 - 1990

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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0025590198&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0025590198&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0025590198

SP - 327

EP - 336

T2 - 21st Biennial Mechanism Conference

Y2 - 16 September 1990 through 19 September 1990

ER -

Geometry of interference with application to obstacle avoidance

Abstract

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All Science Journal Classification (ASJC) codes

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