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Collision of convex objects

  • Applications And Systems
  • Conference paper
  • First Online:
Eurocal '87 (EUROCAL 1987)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 378))

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  • 152 Accesses

Abstract

We treat one of the many geometrical problems that face him who simulates tasks for industrial robot manipulators: given two convex objects (in 2 or 3 dimensions), determine whether they intersect. Our iterative algorithm will either find a wedge which contains all of one object but nothing of the other or find a point which belongs to both objects or say it cannot tell. The last alternative occurs only if the objects are not more than (a given) ɛ apart. The wedge or the common point, respectively, can be found iteratively by constructing touching-lines (touching-planes, in space) from a point on one object to the other object. This geometrical idea at the base of the algorithm is new.

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References

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Authors and Affiliations

  1. Research Institute for Symbolic Computation, Johannes Kepler University, A-4040, Linz, Austria

    Bernhard Roider & Sabine Stifter

Authors
  1. Bernhard Roider
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  2. Sabine Stifter
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Editor information

James H. Davenport

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© 1989 Springer-Verlag Berlin Heidelberg

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Roider, B., Stifter, S. (1989). Collision of convex objects. In: Davenport, J.H. (eds) Eurocal '87. EUROCAL 1987. Lecture Notes in Computer Science, vol 378. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-51517-8_124

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  • DOI: https://doi.org/10.1007/3-540-51517-8_124

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-51517-3

  • Online ISBN: 978-3-540-48207-9

  • eBook Packages: Springer Book Archive

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