Robot Motion Simulation and Planning Based on Solid Modeling

Programs were developed which utilize computer graphics to simulate robots and their functions. Also developed was a simulation environment that can be used as a foundation to develop robot application programs. This environment exploits the power of the LISP language in data and control structures and is capable of interfacing with geometric modelers. To advance beyond the capabilities of present solid modelers, research has been made on representing the sweeping of 3-dimensional objects undergoing general motion. This provides ways for effective collision checking in simulation and generates information useful for collision-avoidance motion planning