... methods. Compared with traditional path planning methods, the configuration-space and collision detection in the method are different. The obstacles in the configuration-space are weakly rigid and allow continuous contact with the robot. The collision detection is based on interference magnitudes...

...Yuxue Jin; Jie Geng; Zhiyi He; Chuan Lv; Tingdi Zhao Purpose Virtual maintenance simulation is of great importance to help designers find and avoid design problems. During its simulation phase, besides the high precision requirement, collision detection must be suitable for all irregular objects...