RESEARCH PAPERS: Mechanisms Papers

The Geometry of Interference With Application to Obstacle Avoidance

[+] Author and Article Information
Y. J. Choi, C. D. Crane, G. K. Matthew, J. Duffy

Center for Intelligent Machines and Robotics, Department of Mechanical Engineering, University of Florida, Gainesville, FL

J. Mech. Des 115(2), 300-305 (Jun 01, 1993) (6 pages) doi:10.1115/1.2919192 History: Received March 01, 1990; Online June 02, 2008


A mapping which transforms the relative displacements of one object with respect to a reference object into image points has been developed by interpreting the relative displacement in terms of affine coordinates. The mapping provides a novel mathematical tool that solves interference problems of objects in three-dimensional space. By use of this mapping, the geometrical condition of interference of objects is represented by simple inequalities. The inverse mapping provides the means of avoiding interference and can be utilized for articulation of robot arms so as to avoid collision with obstacles.

Copyright © 1993 by The American Society of Mechanical Engineers
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