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Problems common to graphics and robotics are covered in this reviewed selection of papers written following a 1993 workshop. Leading experts from both disciplines met to identify common problems, to present new solutions, and to discuss future research directions. Topics covered include robot simulation using graphics workstations, simulation concepts in the framework of teleoperation, path planning strategies, collision detection techniques, experimentation using virtual reality, modeling techniques for automated programming and for objects with curved surfaces, object-oriented implementations, various aspects of robot vision, and - in a paper that reflects the essence of the workshop - the challenging task of designing a vision system for a domestic robot.
List of contents
Principles of Robot Simulation and their Application in a PC-based Robot Simulation System.- Graphical Robot Simulation within the Framework of an intelligent TeleSensorProgramming System.- Using Graphics Algorithms as Subroutines in Collision Detection.- CSG Based Collison Detection.- Interactive Graphics Design with Situated Agents.- Assembly Planning Using Symbolic Spatial Relationships.- From CAD Models to Assembly Planning.- Feature Modelling for Assembly.- Triangular B-Splines\for Modeling in Graphics and Robotics.- Blending Surfaces with Minimal Curvature.- Surfaces in an object-oriented geometric framework.- An Active Stereometric Triangulation Technique Using a Continuous Pattern.- Automatic Model-Generation for Image Analysis.- Navigation Through Volume Data by Active Vision Methods.- Towards a Vision System for a Domestic Robot.
