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A CAD Representation of Robot Manipulator Workspace

Johnson, Colin G., Marsh, Duncan (1998) A CAD Representation of Robot Manipulator Workspace. In: 29th International Symposium on Robotics. . (KAR id:70984)

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If robot programming is to advance to the stage where the well-studied problems of automated path-planning, collision detection, workspace mapping et cetera can leave the research laboratory and take their place in industry, then there is a need for a new kind of robot programming. Incorporating robot pro- gramming into a CAD system is one possibility, and the first stage in producing such a system would be to repre- sent robot workspaces in a CAD-amenable format. This paper describes a representation of robot manipulator workspaces in terms of non-uniform rational B-splines (NURBS), a standard representation for free form shapes in CAD. Applications of the technique to collision detection, path planning and workspace visualization problems are outlined. The paper concludes by providing signposts towards a new model of mechanism programming which is grounded in CAD concepts.

Item Type: Conference or workshop item (Paper)
Subjects: Q Science > QA Mathematics (inc Computing science) > QA 76 Software, computer programming,
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Computing
Depositing User: Colin Johnson
Date Deposited: 13 Dec 2018 00:09 UTC
Last Modified: 16 Nov 2021 10:25 UTC
Resource URI: (The current URI for this page, for reference purposes)
Johnson, Colin G.:
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