This paper proposes an algorithm to check for collision between the two arms of the IBM SEDAB robot The collision check is based on static interference checks at discrete points along the selected trajectory. The points are equidistant and chosen such that the motion of all joints involved does not exceed given limits. The robot arms are modeled by a series of boxes, with each box representing a link. A collision check is performed by testing critical pairs of boxes for interference. The box - box interference tests involve excessive computation and are therefore time consuming. To reduce the number of necessary box interference tests, a quick test based on a rough model of the arms is used to determine the critical box pairs. This model consists of a series of spheres with one or two spheres circumscribing a box completely. Tools or parts fixed to the grippers can be included into the collision check.

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