Real time collision detection
US5347459A · kind A · utility
152Cited by
10References
9Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Mar 17, 1993 |
| Grant date | Sep 13, 1994 |
| Priority date | — |
| Expiry date | Mar 17, 2013 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40492
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method is provided for detecting a collision between a robot and one or more obstacles before it occurs. The robot is modeled by spheres in a voxelized workspace. Each voxel within the workspace is assigned a value which corresponds to its distance from the closest obstacle. A collision is determined to be imminent if the voxel value at the center of a sphere is less than the radius of the sphere in voxels.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.