A real-time robot collision avoidance safety system
A data structure and update algorithm are presented for a prototype real-time collision avoidance safety system supporting tele-operated robot arms. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes three dimensional space into eight equ...
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| Format: | Others |
| Language: | en |
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Virginia Tech
2014
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| Online Access: | http://hdl.handle.net/10919/42886 http://scholar.lib.vt.edu/theses/available/etd-06082009-170801/ |