Schlumberger to buy Cameron
World Pumps · 2015
This paper presents a method for fast and reliable collision detection in complex production cells which is part of the PC-based robot off-line programming system of the University of Siegen (Ropsus). The cell objects are composed of primitive solids. All solids are bounded by orthogonal boxes which can be tested for collision very fast only by checking their vertices. Based on Cameron's S-bound theory an algorithm for preprocessing has been derived which reduces the complexity of the production cell by eliminating most of the collision-free solids very fast, i. e. with time depending linearly on the number of solids.