Representing dextrous manipulators with the spherically extended polytope model

Gregory J. Hamlin; Josep Tornero; Robert B. Kelley

doi:10.1117/12.56757

1 March 1992 Representing dextrous manipulators with the spherically extended polytope model

Gregory J. Hamlin, Josep Tornero, Robert B. Kelley

Proceedings Volume 1612, Cooperative Intelligent Robotics in Space II; (1992) https://doi.org/10.1117/12.56757
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

The spherically extended polytope (S-tope) model is an extension of the polytope model. Objects are represented as the convex hull of a set of spheres. An efficient algorithm for calculating the distance between s-topes is presented. The s-tope model is particularly well suited for modeling dextrous manipulators and other anthropomorphic forms. As a practical example, the Utah/MIT dextrous manipulator is represented using this method, and the time to calculate distances between the manipulator and various objects is measured.

Citation Download Citation

Gregory J. Hamlin, Josep Tornero, and Robert B. Kelley "Representing dextrous manipulators with the spherically extended polytope model", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); https://doi.org/10.1117/12.56757

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