Accession Number : ADP001638

Title :   A Transform Approach to Collision Free Programming of Multidegree-of-Freedom Structures,

Corporate Author : TUFTS UNIV MEDFORD MA DEPT OF ENGINEERING DESIGN

Personal Author(s) : Kreifeldt,John G. ; Levine,Stephen H.

Report Date : JAN 1983

Pagination or Media Count : 24

Abstract : An approach is presented which transforms a dynamic articulated, collision-prone machine, such as a remote manipulator or robot, into a static multidimensional representation of its collision possibilities. Among other advantages of this approach, the basic problem of finding collision free and optimized machine movements from an initial to a final configuration becomes immediately clear and conceptually solvable. The major disadvantages of the approach at this point appear to be related to computational procedures and data storage. However, the clarification of the control and guidance problem gained through the transformational approach as well as its elucidation of many related problems remain prime conceptual tools. This paper presents a number of aspects of this approach as well as several simplified examples. (Author)

Descriptors :   *Collision avoidance, *Computer programming, Transformations(Mathematics), Spatial distribution, Configurations, Degrees of freedom, Geometric forms, Trajectories, Interference, Three dimensional, Tolerance, Optimization, Rotation, Correlation techniques, Paths, Machines, Segmented, Robots, Manipulators, Remote control

Distribution Statement : APPROVED FOR PUBLIC RELEASE