In this paper the development of a function for the universally applicable collision control of kinematical mechanisms is presented for an integrated CAD/CAM system. A new method for the computer aided collision control between moving bodies starts from the computer representation model as a source of information. In solid modeling the boundary or CSG representations of components are converted into extended octrees (EO). With the extended octrees the collision control is possible on the basis of analytic 3d-geometric models. A discrete collision control is based on static min-max-tests between cubes or cuboids of EO by subdividing a given time interval into sufficiently small pieces. A dynamic and continuous collision control is realized by introduction of an effective space of a moving component for each time interval however. The effective space is determined by a novel method for modeling swept volume. Using the recursive hierarchical EO the intersection of a body with the effective space of another moving body is reduced to the intersection determination between nodes (cubes) of EO. In case of a possible collision the collision zone can be recognised and presented exactly by the intersection between relevant nodes using analytic tests. The collision recognition can be used to take measures for collision avoidance. The proposed method for computer aided collision control can be applied to the collision control in engineering design and planning of robotics, mechanics, manufacturing, assembling and disassembling processes.

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