RPQ: ROBOTIC PROXIMITY QUERIES - Development and Applications

Abstract

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. 1