Geometric technique for robot simulation.

Geometric Computations for Simulation

Geometric Robot Mapping

The purpose of this paper is to present a technique to create a global map of a robot’s surrounding by converting the raw data acquired from a scanning sensor to a compact map composed of just a few generalized polylines (polygonal curves). To merge a new scan with a previously computed map of the surrounding we use an approach that is composed of a local geometric process of merging similar li...

Geometric Algebra for Modeling in Robot Physics

The lengthy and intricate road along the history of mathematics shows that the evolution through time of the two domains, algebra from the Arabic “alg-jbar” and geometry from the ancient Greek "! " K ̨ (geo D earth, metria D measure), started to intermingle early, depending upon certain trends imposed by the different groups and schools of mathematical thought. It was only at the end of the nine...

Optimal geometric modeler for robot motion planning

Planning collision-free trajectories under real-time restrictions is a challenging topic in robotics. In order to reduce computational cost in the collision avoidance process, some authors have proposed different model representations. This article presents an optimal method able to generate automatically geometric models of the objects in a robotic system. For each object, two models are obtai...

Robot identification for dynamic simulation

Robotized laser welding is an application, which requires high speed combined with high precision. Realistic Dynamic Simulations combined with Off-line Programming, significantly enhances the a priory prediction of the weldability of a specific product. Obviously, realistic dynamic simulations require realistic models of the robot and controller. A 3DOF robot model has been formulated which inc...