Solid modeling of kinematic chains

This paper discusses the application of superellipsoids for solid modeling of kinematic chains. Superellipsoids belong to a family of surfaces called superquadrics. They are very flexible, and easy to deform and manipulate by mathematical transformations. They also have a well defined inside-outside function, which to a great extent facilitates testing of interference between objects. The authors describe how kinematic chains can be modeled using superellipsoids. A systematic way of determining transformation matrices between kinematic links is presented. The technique has been implemented in a hybrid telerobotic simulation system for undersea operations. It has proved to be efficient for object detection and object interactions simulation.<>