Design and positioning of a robot in an environment with obstacles using optimal research

The authors describe a general method of designing and positioning a robot in an environment in order to solve geometrical problems related to the accessibility of given zones. The approach is characterized by the use of two different types of representation of the solids and of the spaces: a CSG (constructive solid geometry) and an octree representation. Each is well adapted to solve two different problems: collision detection and description of the attained space. In addition, an automatic algorithm is used to design any robot related to any set of Denavit-Hartenberg parameters. The use of an optimal approach makes it possible to define the parameters of the robot and its position and orientation in the environment that satisfy the specified task