KCD : a Collision Detector for Path Planning in Factory Models
نویسندگان
چکیده
A critical operation in robot path planning is the veriication for collision between the robot and the obstacles in its environment. In this contribution we present a new collision detector KCD dedicated to path planning for mechanical devices and robots in industrial-size CAD models. We describe the architecture of KCD and the way in which it is applied in the path planning tool Move3D. We report on experimental results showing its performance.
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