Naslov
On-line collision free trajectory generation using virtual models as space occupancy sensors

Autori
Reichenbach, Tomislav ; Kovačić, Zdenko ; Petrinec, Krešimir

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

Izvornik
Annals for DAAAM 2004 & Proceedings of the 15th International DAAAM Symposium / Katalinić, Branko - Beč : DAAAM International Vienna, 2004, 391-392

Skup
Intelligent Manufacturing & Automation: Globalisation-Technology-Men-Nature

Mjesto i datum
Beč, Austrija, 03.11.2004. - 06.11.2004

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
robotics; virtual models; collision avoidance; trajectory planning

Sažetak
Virtual 3D models, normally used for testing and designing systems, can also be used in the systems operational phase as a convenient way to generate on-line collision free trajectories as it is shown in this paper. A virtual environment is used to simulate possible outcomes in system operation, while virtual models serve as space occupancy sensors among objects. Real-time collision detection algorithm, based on the usage of oriented bounding boxes and the triangle/triangle intersection tests is used for determining the exact collision point. A collision avoidance strategy is proposed by changing the manipulator kinematics depending on a collision point which leads to on-line iterative planning of collision free trajectories.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA