Publications Details

Boundary equations of configuration obstacles for manipulators

Hwang, Yong K.

A method is described for obtaining the boundary equations of configuration obstacles for stick-figure manipulators in three-dimensional environments. Polyhedral obstacles are represented as a collection of planar triangular patches, and the intersection conditions between a line segment and a triangular patch are used to derive boundary equations. It is shown that the boundary equation for the nth joint variable can be solved explicitly in terms of the 0th, 1st, ..., (n-1)th joint variables. The expressions can be used to compute configuration obstacles or to analyze the geometry of contacts between manipulators and obstacles.