Shape Estimation For Collision Avoidance
J. E. Friedhoff, Ernest L. Hall · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1987
The basic configuration space method has been successfully implemented in a real time collision avoidance algorithm. The program allows a user to determine a collision free path through obstacles in the path. The program is integrated with a offline programming utility, and permits the safe utilization of a robot work cell. This research is a step towards understanding the safe operation of industrial robots.