Robot Motion Simulation and Planning Based on Solid Modeling

Ming-Chuan Leu; K. K. Wang

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

Robot Motion Simulation and Planning Based on Solid Modeling

Ming-Chuan Leu
, K. K. Wang

Mechanical and Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

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.

Original language	American English
Journal	CIRP Annals - Manufacturing Technology
DOIs	https://doi.org/10.1016/S0007-8506(07)61604-7
State	Published - Jan 1 1988

Keywords

Computer Graphics
Geometric Modeling
Motion Planning
Robot
Simulation
Solid Modeling
Sweeping
Swept Volume

Disciplines

Aerospace Engineering
Mechanical Engineering

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10.1016/S0007-8506(07)61604-7License: Unspecified

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

Cite this

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title = "Robot Motion Simulation and Planning Based on Solid Modeling",

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.",

keywords = "Computer Graphics, Geometric Modeling, Motion Planning, Robot, Simulation, Solid Modeling, Sweeping, Swept Volume",

author = "Ming-Chuan Leu and Wang, \{K. K.\}",

year = "1988",

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language = "American English",

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AU - Wang, K. K.

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Y1 - 1988/1/1

N2 - 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.

AB - 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.

KW - Computer Graphics

KW - Geometric Modeling

KW - Motion Planning

KW - Robot

KW - Simulation

KW - Solid Modeling

KW - Sweeping

KW - Swept Volume

UR - https://scholarsmine.mst.edu/mec_aereng_facwork/2795

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

U2 - 10.1016/S0007-8506(07)61604-7

DO - 10.1016/S0007-8506(07)61604-7

M3 - Article

JO - CIRP Annals - Manufacturing Technology

JF - CIRP Annals - Manufacturing Technology

ER -

Robot Motion Simulation and Planning Based on Solid Modeling

Abstract

Keywords

Disciplines

Access to Document

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