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Alternative TitleRapid Collision Detection Algorithm for Multi-robot Assembly System
宋宇; 孙茂相; 吴镇炜; 谈大龙
Source Publication控制与决策
Indexed ByCSCD
Contribution Rank2
Funding Organization国家863计划项目! (86 3- 5 12 - 980 5 - 14)
Keyword机器人 路径规划 碰撞检测
Abstract提出一种面向操作手装配系统的快速碰撞检测算法。该算法以机器人运动学和空间解析几何为基础 ,将判断机械手手臂与障碍物是否发生碰撞问题转化为直线段与有界平面是否存在公共点的简单解析几何问题 ,并以 PU MA5 6 0操作手为例对算法加以说明。该算法不仅适用于静态的障碍物已知的环境 ,而且适用于障碍物运动规律已知的动态环境 ,减少了碰撞检测占用的时间 ,提高了路径规划的效率
Other AbstractA new rapid collision detection algorithm for assembly system is presented, which is based on robot kinematics and space analytic geometry. The algorithm converted the problem of judging collision between the manipulator′s arm and the obstacles into a space analytic geometry problem, i.e. the existence of the intersection between each line segment and the bounded plane of polyhedron. A real-scale articulated robot, PUMA 560, is used to expound the algorithm. It can be applied to the environment not only with the static obstacle but also with the moving obstacle. It decreases time spent on collision detection during robot path planning and inscreases the efficiency of path planning.
Citation statistics
Document Type期刊论文
Corresponding Author宋宇
Recommended Citation
GB/T 7714
宋宇,孙茂相,吴镇炜,等. 装配机器人系统快速碰撞检测算法[J]. 控制与决策,2001,16(2):215-218.
APA 宋宇,孙茂相,吴镇炜,&谈大龙.(2001).装配机器人系统快速碰撞检测算法.控制与决策,16(2),215-218.
MLA 宋宇,et al."装配机器人系统快速碰撞检测算法".控制与决策 16.2(2001):215-218.
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