Table Look Up for Collision Detection and Safe Operation of Robots

Abstract This paper presents a system for collision detection of a robot working in a fixed environment the robot and the environment are modelled by means of simple primitives. In order to accelerate the calculation of the collision detection, a table look up procedure is used. The table indicates the zones without any risk of collision, and gives the list of obstacles for which a risk of collision may occur for the zones containing a risk of collision. The algorithms to accelerate the generation of this table and to minimize its size are given in the paper.

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