Robot Motion Simulation and Planning Based on Solid Modeling

Document Type

Article

Publication Date

1-1-1988

Abstract

Abstract: Programs were developed which utilize computer graphics to simulate robots and their functions. Also developed was a simulation environment that can be used as a foundation to develop robot application programs. This environment exploits the power of the LISP language in data and control structures and is capable of interfacing with geometric modelers. To advance beyond the capabilities of present solid modelers, research has been made on representing the sweeping of 3-dimensional objects undergoing general motion. This provides ways for effective collision checking in simulation and generates information useful for collision-avoidance motion planning. © 1988 CIRP.

Identifier

0004661980 (Scopus)

Publication Title

CIRP Annals Manufacturing Technology

External Full Text Location

https://doi.org/10.1016/S0007-8506(07)61604-7

e-ISSN

17260604

ISSN

00078506

First Page

141

Last Page

144

Issue

1

Volume

37

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