Fast transformations to provide simple geometric models of moving objects

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Models are compared for use with a sensor system working in real
time (in this case a simple image processing system). A static robot work-cell is
modelled as several solid polyhedra. This model is updated as new objects enter
or leave the work-place. Similar 2-D slices in joint space, and spheres and simple polhedra are used to model these objects. The three models are compared for their ability to be updated with new information and for the efficiency of the whole system in accessing data concerning new objects. The system supplies data to a "Path Planner" containing a geometric model of the static environment and a robot. The robot structure is modelled as connected cylinders and spheres and the range of motion is quantised.
Original languageEnglish
Title of host publication Intelligent robotics and applications
Subtitle of host publication8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, proceedings, part I
EditorsHonghai Liu, Naoyuki Kubota, Xiangyang Zhu, Rüdiger Dillmann, Dalin Zhou
Place of Publication Switzerland
ISBN (Electronic)9783319228792
ISBN (Print)9783319228785
Publication statusPublished - 2015

Publication series

NameLecture notes in computer science
ISSN (Print)0302-9743


  • Manufacturing · Navigation obstacles · Robot · Model


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