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DERIVATION OF KINEMATIC PARAMETERS FROM A 3D ROBOT MODEL USED FOR COLLISION-FREE PATH PLANNING


Reichenbach, Tomislav; Kovačić, Zdenko
DERIVATION OF KINEMATIC PARAMETERS FROM A 3D ROBOT MODEL USED FOR COLLISION-FREE PATH PLANNING // CD-ROM Proceedings of the 11th Mediterranean Conference on Control and Automation
Rhodos, 2003. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
DERIVATION OF KINEMATIC PARAMETERS FROM A 3D ROBOT MODEL USED FOR COLLISION-FREE PATH PLANNING

Autori
Reichenbach, Tomislav ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
CD-ROM Proceedings of the 11th Mediterranean Conference on Control and Automation / - Rhodos, 2003

Skup
The 11th Mediterranean Conference on Control and Automation

Mjesto i datum
Rhodos, Grčka, 18-20.06.2003

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
virtual modeling; collision detection; collision avoidance

Sažetak
This paper presents a method of deriving a kinematics model from a 3D robot model positioned in the virtual environment. This method is applicable to non-convex hierarchical polygons models constructed of triangles and allows determination of kinematic parameters for each point (triangle) on the model including those on the surface of the model. Real-time collision detection algorithm, based on the usage of oriented bounding boxes and the triangle/triangle intersection is used for determining the exact collision point. Using the collision point as a new end of a kinematic chain, new kinematic parameters derived from colliding triangles are calculated. A collision-free robot motion is then enforced by planning collision-free trajectories for these critical points or regions.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Projekt / tema
0036044

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Zdenko Kovačić (autor)

Avatar Url Tomislav Reichenbach (autor)

Citiraj ovu publikaciju

Reichenbach, Tomislav; Kovačić, Zdenko
DERIVATION OF KINEMATIC PARAMETERS FROM A 3D ROBOT MODEL USED FOR COLLISION-FREE PATH PLANNING // CD-ROM Proceedings of the 11th Mediterranean Conference on Control and Automation
Rhodos, 2003. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Reichenbach, T. & Kovačić, Z. (2003) DERIVATION OF KINEMATIC PARAMETERS FROM A 3D ROBOT MODEL USED FOR COLLISION-FREE PATH PLANNING. U: CD-ROM Proceedings of the 11th Mediterranean Conference on Control and Automation.
@article{article, year = {2003}, keywords = {virtual modeling, collision detection, collision avoidance}, title = {DERIVATION OF KINEMATIC PARAMETERS FROM A 3D ROBOT MODEL USED FOR COLLISION-FREE PATH PLANNING}, keyword = {virtual modeling, collision detection, collision avoidance}, publisherplace = {Rhodos, Gr\v{c}ka} }