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Reference.org
Line representations in robotics
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<p>Line representations in robotics are used for the following: </p> <ul><li>They model joint axes: a <a href="/facts/Revolute_joint/GvmPuln9">revolute joint</a> makes any connected rigid body rotate about the line of its axis; a <a href="/facts/Prismatic_joint/xp301lAx">prismatic joint</a> makes the connected rigid body translate along its axis line.</li> <li>They model edges of the polyhedral objects used in many task planners or sensor processing modules.</li> <li>They are needed for shortest distance calculation between robots and obstacles.</li></ul> <p>When using such line it is needed to have conventions for the representations so they are clearly defined. This article discusses several of these methods. </p>