Real- time geometric modeling using models in an actuator space and cartesian space

In this article, three models in two different spaces are compared for use with an image processing system working in real time. A static geometric model of a robot work-cell is held in computer memory as several solid polyhedra. This model is updated as new objects enter or leave the workplace. Similar 2-D slices in joint space, spheres, and simple polyhedra are used to model these objects. The three models are compared for their ability to be updated with new information and for the efficiency of the whole system in accessing data concerning new objects. The system supplies data to a “Path Planner.” The path planner contains a geometric model of the static environment and a robot. The robot machinery structure is modeled as connected cylinders and spheres and the range of motion is quantized. © 1995 John Wiley & Sons, Inc.