SIA OpenIR  > 机器人学研究室
装配机器人系统快速碰撞检测算法
Alternative TitleRapid Collision Detection Algorithm for Multi-robot Assembly System
宋宇; 孙茂相; 吴镇炜; 谈大龙
Department机器人学研究室
Source Publication控制与决策
ISSN1001-0920
2001
Volume16Issue:2Pages:215-218
Indexed ByCSCD
CSCD IDCSCD:694113
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.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3360
Collection机器人学研究室
Corresponding Author宋宇
Affiliation1.沈阳工业大学信息科学与工程学院
2.中国科学院沈阳自动化研究所
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
KZYC200102019.pdf(141KB) 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[宋宇]'s Articles
[孙茂相]'s Articles
[吴镇炜]'s Articles
Baidu academic
Similar articles in Baidu academic
[宋宇]'s Articles
[孙茂相]'s Articles
[吴镇炜]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[宋宇]'s Articles
[孙茂相]'s Articles
[吴镇炜]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: KZYC200102019.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.