Computer simulation of robots and associated work cells, with graphical output, is a valuable tool in work cell layout and off-line programming. This paper deals with a software package of programs that allows the depiction, manipulation, and animation of complex work cells and can rapidly examine the cell for interferences between bodies. The algorithm presented finds collisions based on the intersection of planar, convex, n-gons which describe the objects' exteriors. The package was implemented on a VAX with a high-speed distributed graphics processor providing a vector-refresh display. 7 refs.
|Original language||English (US)|
|Number of pages||4|
|State||Published - Dec 1 1984|