Real time collision detection

Details Real time collision detection Real time collision detection

1993-03-17

1994-09-13

Black, Thomas G.

Boots, shoes, and leggings

395 90, 395124, B25J 900, G06F 1572

Patent

active

053474597

ABSTRACT:
A method is provided for detecting a collision between a robot and one or more obstacles before it occurs. The robot is modeled by spheres in a voxelized workspace. Each voxel within the workspace is assigned a value which corresponds to its distance from the closest obstacle. A collision is determined to be imminent if the voxel value at the center of a sphere is less than the radius of the sphere in voxels.

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