Work space monitoring

• Restrict the working space of the robot for safety reason
  • Safe zone, Forbidden zone
• Collision predicted at planning time
• Movement can be absorbed before it start
• Use cuboids(矩形体:직육면체) for simplicity
• Linearize movements(segmentation)

1. Safe and forbidden zone

2.Self Collision

• Generate forbidden zone around Joints
• Size depends on mechanical parameters
• zones are not static
• use direct kinematics to update zone position

3. Multi-Robot Monitoring

• Exclusive zones
• collision detection (capsules functions)