Yankov K., Tzvetanova Y. Archimed - a Geometric Modelling System for Industrial Robots and Environment

3D system Archimed for modeling of robots and equipment is described. Solids are modeled by means of simple primitives and boolean operations between them. Each primitive is a convex solid formed of some plane faces and one quadric surface. This primitive property strongly facilitates the collision detection between primitives and solids made using these primitives. Procedures for collision detection between primitive elements – edges, vertices, faces are developed. They are the grounding of the test for intersection of primitives.