FAST MAPPING OF OBSTACLES INTO CONFIGURATION-SPACE

This paper presence an approach to fast mapping of obstacles from a wo rkspace into a configuration space, based on defining some specific po ints in the workspace as fundamental obstacles, In order to achieve th is objective, we propose efficient algorithms for mapping complex Cart esian obstacles by determining their critical points. The computationa l time required for mapping a two-dimensional obstacle is approximatel y 5 ms with a 33 Mhz 80486 CPU, Obstacle mapping in this paper is base d on a CAD model of an environment that provide global information. Th e proposed mapping procedure and algorithms are suitable for industria l manipulators with a symmetric workspace occupied by polygonal obstac les.