A real-time robot collision avoidance safety system

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dc.contributor.authorHerb, Gregory M.en
dc.contributor.committeechairShaffer, Clifford A.en
dc.contributor.committeememberHeath, Lenwood S.en
dc.contributor.committeememberRoach, John W.en
dc.contributor.departmentComputer Science and Applicationsen
dc.date.accessioned2014-03-14T21:37:03Zen
dc.date.adate2009-06-08en
dc.date.available2014-03-14T21:37:03Zen
dc.date.issued1990-05-05en
dc.date.rdate2009-06-08en
dc.date.sdate2009-06-08en
dc.description.abstractA data structure and update algorithm are presented for a prototype real-time collision avoidance safety system supporting tele-operated robot arms. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes three dimensional space into eight equal cubic octants (nodes) until each octant meets some decomposition criteria. Our octree stores cylspheres (cylinders with spheres on each end) and rectangular solids as primitives. These primitives make up the two seven-degrees-of-freedom robot arms and environment modeled by the system. Octree nodes containing more than a predetermined number N of primitives are decomposed. This rule keeps the octree small, as the entire environment for our application can be modeled using a few dozen primitives. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Incidents in which one robot arm comes too close to the other arm or· an object in the environment are reported. Cycle time for receiving current joint angles, updating the octree, and detecting/reporting collisions is about 30 milliseconds on an Intel 80386 processor running at 20 MHz.en
dc.description.degreeMaster of Scienceen
dc.format.extentv, 80 leavesen
dc.format.mediumBTDen
dc.format.mimetypeapplication/pdfen
dc.identifier.otheretd-06082009-170801en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-06082009-170801/en
dc.identifier.urihttp://hdl.handle.net/10919/42886en
dc.language.isoenen
dc.publisherVirginia Techen
dc.relation.haspartLD5655.V855_1990.H473.pdfen
dc.relation.isformatofOCLC# 22336702en
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject.lccLD5655.V855 1990.H473en
dc.subject.lcshRoboticsen
dc.subject.lcshRobots -- Collision avoidanceen
dc.subject.lcshRobots -- Motionen
dc.titleA real-time robot collision avoidance safety systemen
dc.typeThesisen
dc.type.dcmitypeTexten
thesis.degree.disciplineComputer Science and Applicationsen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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