RPQ: Robotic proximity queries - Development and applications

被引：0
|
作者：
Hernansanz, Albert [1 ]
Giralt, Xavier [1 ]
Rodriguez, Alberto [2 ]
Amat, Josep [3 ]
机构：
[1] Tech Univ Catalonia, Res Grp Intelligent Robot & Syst, Barcelona 08028, Spain
[2] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA
[3] Tech Univ Catalonia, Inst Robot & Ind Informat, Barcelona 08028, Spain
来源：
ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1 | 2007年
关键词：
collision detection; proximity queries; surgical application;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a robotic proximity query package (RPQ) as an optimization of the general collision library PQP (Proximity Query Package) for the detection of collisions and distance computation between open kinematic chains such as robotic arms. The performance of the optimizations to non specific collision query packages are explained and evaluated. Finally, a robotic assisted surgical application is presented which has been used as a test bed for the proximity package.
引用
收藏
页码：59 / 66
页数：8
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