Obstacle avoidance using an octree in the configuration space of a manipulator
- 23 March 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 504-512
- https://doi.org/10.1109/robot.1984.1087218
Abstract
An automatic system for planning safe trajectories for a computer controlled manipulator among obstacles is a key component of robot assembly operations. This paper describes an algorithm transforming cartesian obstacles into obstacles in the space of the first three joints of a manipulator with six revolute joints (e.g. a ACMA-CRIBIER V80), and giving a hierarchical description of the free space by mean of an octree. Such a description is very useful in testing for collision between the arm of the manipulator end obstacles since it is represented by a point in this space.Keywords
This publication has 3 references indexed in Scilit:
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- Region representation: Quadtrees from binary arraysComputer Graphics and Image Processing, 1980