Geometry of interference with application to obstacle avoidance

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

Research output: Contribution to conferencePaperpeer-review


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 languageEnglish
Number of pages10
Publication statusPublished - 1990
Event21st Biennial Mechanism Conference - Chicago, IL, USA
Duration: 1990 Sept 161990 Sept 19


Other21st Biennial Mechanism Conference
CityChicago, IL, USA

All Science Journal Classification (ASJC) codes

  • Engineering(all)


Dive into the research topics of 'Geometry of interference with application to obstacle avoidance'. Together they form a unique fingerprint.

Cite this