Beneets of Applicability Constraints in Decomposition-free Interference Detection between Nonconvex Polyhedral Models

Nonconvex polyhedral models of workpieces or robot parts can be directly tested for interference without resorting to a previous decomposition into convex entities Here we show that this in terference detection based on the elemental edge face intersection test can be performed e ciently a strategy based on applicability constraints re duces drastically the set of edge face pairings that have to be considered for intersection This is accomplished by using an appropriate representa tion the Spherical Face Orientation Graph devel oped by the authors as well as feature pairing al gorithms based on the plane sweep paradigm that have been adapted to work on that representation Furthermore the bene ts of such a strategy ex tend to the computation of a lower distance bound between the polyhedra both lowering the compu tational e ort and improving the quality of the bound Experimental results con rm the expected advantages of this strategy