Advanced Methods for Robot-Environment Interaction towards an Industrial Robot Aware of Its Volume

Algorithm 1

𝑑=𝜃

for each i ∈{𝑥,𝑦,𝑧}

 if ((𝑒=𝐜_𝑖−𝐚_𝑖,min)<𝜃)

  if (𝑒<−𝑟) return (DISJOINT);

   𝑑=𝑑+𝑒²;

 else if ((𝑒=𝐜_𝑖−𝐚_𝑖,max)>𝜃)

  if (𝑒>𝑟) return (DISJOINT);

   𝑑=𝑑+𝑒²;

if (𝑑>𝑟²) return(DISJOINT);

return(OVERLAP);