Computer Control Of Coordinate Movement With Anthropomorphic Two-Arms
Chang Hsiao‐tsu, Shi Bai-yan · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1985
The paper explores the mutual collision problem for two moving anthropomorphic arms with complicatedly shaped objects grasped each in the case constant acceleration in three dimensional space. A discriminant criterion has been proposed for intersection detection, which is based on topology theory. This method is more expressive and straightforward.