Efficient collision detection is crucial for the success of automated process planning and path planning for robotic manipulation and assembly. Yet, collision detection for articulated industrial robots holds various challenges. This paper gives an overview of these challenges, and presents an efficient implementation of collision detection techniques for such robots. The applicability of the developed techniques to support path planning in an industrial test case is also illustrated.
StuCoSReCK Pro oper, Slov ceedings of the 2019 6 enia, 10 Octob th er Student
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