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Title

An orientation-based pruning tool to speed up contact determination between translating polyhedral models

AuthorsJiménez Schlegl, Pablo ; Torras, Carme
KeywordsMultiple contacts
Interference checking
Collision detection
Nonconvex polyhedra
Sphere of orientations
Robots
Issue Date2001
PublisherSage Publications
CitationInternational Journal of Robotics Research 20(6): 466-483 (2001)
AbstractContact determination in terms of edge-face intersection tests permits handling nonconvex polyhedra directly, without decomposing them into convex entities. This saves the decomposition time and avoids having to deal with fictitious features, but requires checking all possible pairings. However, by considering only translations and departing from a noninterfering situation, the number of pairings to be checked decreases drastically. The set of critical pairings can be determined efficiently by using the Spherical Face Orientation Graph (SFOG), a representation developed by the authors. An algorithm to exploit the SFOG in convex settings provides controlled evidence of the pruning potential of this approach: the number of critical pairings grows linearly with the complexity of the polyhedra, instead of quadratically as the total number of pairings does. Experiments with a similar algorithm on nonconvex settings confirm the expected potential of the approach: for workpieces with many concavities moving in close proximity, our contact determination procedure performs one order of magnitude faster than RAPID, at the expense of a much higher preprocessing time.
DescriptionThis paper provides a revised and extended account of results presented at the IEEE International Conference on Robotics and Automation (Jiménez and Torras 1996, 1999).
Publisher version (URL)http://dx.doi.org/10.1177/02783640122067499
URIhttp://hdl.handle.net/10261/30527
DOI10.1177/02783640122067499
ISSN0278-3649
Appears in Collections:(IRII) Artículos
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