Abstract
This paper presents a great improvement in the collision-detection problem by considering: 1.- A simple description of the objects in the world, 2.- A fast distance computational technique and 3.- A collision-detection procedure which reduces the number of distance computations required. A multi-level hierarchical structure and a novel three-dimensional object representation technique based on spherical objects are adopted for modeling the world. Fast algorithms for distance computation, based on geometrical considerations, have been developed and used in the hierarchical collision detection procedure. This technique has been applied to a complex robotic system consisting of two PUMA robots, each mounted on a three-degree of freedom platform used in order to study robotic assembly of structures in space.
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