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A fast procedure for computing incremental growth distances

Published online by Cambridge University Press:  09 April 2001

Sun-Mog Hong ,
Joon-Hyuek Yeo  and
Hae-Wook Park
Sun-Mog Hong
Affiliation:
School of Electronic and Electrical Eng., Kyungpook National University, Taegu 702-701 (Korea)smhong@ee.kyungpool.ac.kr
Joon-Hyuek Yeo
Affiliation:
Hyundai Heavy Industries Co. Ltd., San 1-8, Mabook-ri, Yongin-shi, Kyunggi-do 449-716 (Korea)riverman@hhi.co.kr
Hae-Wook Park
Affiliation:
Brain Co. Ltd., 1-3-11 Omika-cho, Hitachi-shi, Ibaraki-ken 319-1221 (Japan)phw0119@hotmail.com
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Abstract

A fast numerical procedure is presented for computing growth distances between a pair of polytopes in three dimensional space that move incrementally along specified smooth paths. The procedure carrys out the growth distance evaluations efficiently by predicting and verifying contact configurations between a pair of grown polytopes. In the prediction and verification the procedure uses vertex and facial characterizations of polytopes and exploits their geometric adjacency information. The computation time, in average, is very small and does not depend significantly on the geometric complexity of two polytopes. A numerical example is presented to demonstrate the applicability of the procedure to interference detection in robotic simulations.

Keywords

Growth distanceIncremental distanceInterference detectionRobotic simulations
Type
Research Article
Information
Robotica , Volume 18 , Issue 4 , July 2000 , pp. 429 - 441
Copyright
© 2000 Cambridge University Press

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