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Two Models for Robot Collision Detection : Complexity Comparison (CROSBI ID 488945)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Crneković, Mladen ; Šitum, Željko ; Brezak, Danko Two Models for Robot Collision Detection : Complexity Comparison // Proceedings of the 8th International Scientific Conference on Production Engineering : CIM 2002 : Computer Integrated Manufacturing and High Speed Machining / Cebalo, Roko ; Shulz, Herbert (ur.). Zagreb: Hrvatska udruga proizvodnog strojarstva (HUPS), 2002. str. III 1-III 11

Podaci o odgovornosti

Crneković, Mladen ; Šitum, Željko ; Brezak, Danko

engleski

Two Models for Robot Collision Detection : Complexity Comparison

To find out if a robot is in collision with its environment, it is necessary to build a geometry model. The most common basic element for the geometry model is a prism and a sphere ; therefore a robot and obstacles are modeled as a set of basic elements. According to the required mathematical operation, it is important to know which model is better. Although a sphere model seems to be better because it is mathematically simpler to describe it, a prism is much more similar to elements of our technical systems. Equations for a sphere model are much simpler than those for a prism model, but the sphere model requires more basic elements. This article quantifies the required mathematical operation for two models, to compute if a robot is in collision.

robot collision detection; prism model; sphere model

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Podaci o prilogu

III 1-III 11.

2002.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 8th International Scientific Conference on Production Engineering : CIM 2002 : Computer Integrated Manufacturing and High Speed Machining

Cebalo, Roko ; Shulz, Herbert

Zagreb: Hrvatska udruga proizvodnog strojarstva (HUPS)

953-97181-4-7

Podaci o skupu

International Scientific Conference on Production Engineering (8 ; Brijuni)

predavanje

13.06.2002-14.06.2002

Brijuni, Hrvatska

Povezanost rada

Strojarstvo