RPQ: ROBOTIC PROXIMITY QUERIES - Development and Applications

Albert Hernansanz, Xavier Giralt, Alberto Rodriguez, Josep Amat

Abstract

This paper presents a robotic proximity query package (RPQ) as an optimization of the general collision library PQP (Proximity Query Package) for the detection of collisions and distance computation between open kinematic chains such as robotic arms. The performance of the optimizations to non specific collision query packages are explained and evaluated. Finally, a robotic assisted surgical application is presented which has been used as a test bed for the proximity package.

References

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Paper Citation


in Harvard Style

Hernansanz A., Giralt X., Rodriguez A. and Amat J. (2007). RPQ: ROBOTIC PROXIMITY QUERIES - Development and Applications . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 59-66. DOI: 10.5220/0001629100590066


in Bibtex Style

@conference{icinco07,
author={Albert Hernansanz and Xavier Giralt and Alberto Rodriguez and Josep Amat},
title={RPQ: ROBOTIC PROXIMITY QUERIES - Development and Applications},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={59-66},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001629100590066},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - RPQ: ROBOTIC PROXIMITY QUERIES - Development and Applications
SN - 978-972-8865-83-2
AU - Hernansanz A.
AU - Giralt X.
AU - Rodriguez A.
AU - Amat J.
PY - 2007
SP - 59
EP - 66
DO - 10.5220/0001629100590066