Modelling robot manipulators with multivariate B-splines

Authors:
Colin G. Johnson;Duncan Marsh
Affiliations:
Department of Computer Science, University of Exeter, The Old Library, Prince of Wales Road, Exeter, EX4 4PT, UK (E-mail: colin@dcs.ex.ac.uk, WWW: http://www.dcs.ex.ac.uk/~col ...;Department of Mathematics, Napier University, 219 Colinton Road, Edinburgh, EH14 1DJ, UK
Venue:
Robotica
Year:
1999

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Abstract

In programming robot manipulators to carry out a wide variety of tasks it would be desirable to create a CAD system in which these tasks can be programmed at the task level, leaving the fine-grained detail of path planning and collision detection to the system. This paper describes the theoretical background to such a system, by providing a model in which robot motions are represented using multivariate B-splines, a standard representation for free-form shapes in the CAD environment. The paper also describes algorithms which take this representation and apply it to collision detection and path-planning.