Preliminary optimization analysis with envelopes for robot motion

The area of robots contains various kinds of computing requirements. For motion planning or path finding, one of the key issues is to implement the mechanism of collision detection for avoiding contact in the robot trajectory between the robot and surrounding objects. Based on some basic geometric models, this paper presents the preliminary analysis for collision detection at first, and then envelopes are introduced for optimization. All the approaches are simulated in a virtual scenario provided by a freeware of robot simulator.