刘连峰, 王泳嘉. 空间路径规划中-种三维物体干涉检测算法[J]. 机器人, 1996, 18(1): 50-54..
LIU Lianfeng, WANG Yongjia. A THREE-DIMENSIONAL ALGORITHM ON DETECTING COLLISION BETWEEN ROBOT AND ITS ENVIRONMENT. ROBOT, 1996, 18(1): 50-54..
Abstract：A new method common-plane method, to detect the collision between the industrial robot and Its working envisonment in three dimension is introduced in this paper. The method can be used for trajectory planing, motion path verifying and collison testing between robots and obstacles.
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