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 / - Rodos, 2003

Skup
The 11th Mediterranean Conference on Control and Automation

Mjesto i datum
Rodos, Grčka, 18.06.2003. - 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