Naslov
Two Models for Robot Collision Detection : Complexity Comparison

Autori
Crneković, Mladen ; Šitum, Željko ; Brezak, Danko

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

Izvornik
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), 2002, III 1-III 11

ISBN
953-97181-4-7

Skup
International Scientific Conference on Production Engineering (8 ; Brijuni)

Mjesto i datum
Brijuni, Hrvatska, 13.06.2002. - 14.06.2002

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
robot collision detection; prism model; sphere model

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

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