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Title

Benefits of applicability constraints in decomposition-free interference detection between nonconvex polyhedral models

AuthorsJiménez Schlegl, Pablo ; Torras, Carme CSIC ORCID
KeywordsApplicability constraints
Interference detection
Lower distance bound
Nonconvex polyhedral models
Plane sweep paradigm
Spheric
Automation: Robots
Robots
Robotics
Issue Date1999
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE International Conference on Robotics and Automation: 1856-1862 (1999)
AbstractNon-convex polyhedral models of workpieces or robot parts can be directly tested for interference, without resorting to a previous decomposition into convex entities. Here we show that this interference detection, based on the elemental edge - face intersection test, can be performed efficiently: a computational effort reducing strategy based on applicability constraints reduces drastically the set of edge - face pairings that have to be considered for intersection. This is accomplished by using an appropriate representation, the Spherical Face Orientation Graph, developed by the authors, as well as feature pairing algorithms, based on the line sweep paradigm, that have been adapted to work on that representation. Furthermore, the benefits of such a strategy extend to the computation of a lower distance bound between the polyhedra, particularly on the quality of this lower bound. Experimental results confirm the expected advantages of this strategy.
DescriptionIEEE International Conference on Robotics and Automation (ICRA), 1999, Detroit (EE.UU.)
URIhttp://hdl.handle.net/10261/30193
DOI10.1109/ROBOT.1999.770379
ISBN0780351800
Appears in Collections:(IRII) Comunicaciones congresos

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