| 摘要 |
<p>A collision detection system with less computation time and higher performance is provided. The shortest distance between the surface of one object and the surface of another at the beginning or end of a period to be checked is compared with the sum of the maximum length of paths along which points of the surface of the one object move in the period, and the like of the another. If the former is bigger than the later, then it is sure that the two objects can not collide in the period. If not, it is not sure, and the period is divided into two parts, and then such a test is done for each partial period. Such a test and dividion are recursively performed until the whole period is ensured to have no collision or an approximate collision is detected, which is easy to be so. The approximate collision is defined as a state of the shortest distance between the surface of the one object and the surface of the another being less than a perdetermined minute threshold. THis in vention is useful in CAD/CAM system in particular for off-line robot movement teaching.</p> |
