engleski

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

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.

virtual modeling; collision detection; collision avoidance

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