Naslov
Collision Avoidance in Virtual Robotized Plants

Autori
Reichenbach, Tomislav

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, magistarski rad

Fakultet
Fakultet elektrotehnike i računarstva

Mjesto
Zagreb

Datum
25.05

Godina
2005

Stranica
116

Mentor
Kovačić, Zdenko

Ključne riječi
robotics; collision detection; virtual environments; kinematics; inverse kinematics; trajectory planning; 3D modeling

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. The virtual environment is used to simulate possible events in the system operation. The real-time collision detection algorithm is used to determine the exact collision point on virtual model surfaces that are used as the contact sensors among the objects. The collision avoidance strategy is proposed by calculating the new manipulator kinematic parameters depending on the collision point. This approach enables the fastest collision avoidance in respect to the collision point, as now the collision point is the end of kinematic chain, thus it is directly controlled. The kinematic chain based on the collision point is used to calculate the new collision-free trajectory way points, leading to on-line iterative planning of the collision-free trajectories. The virtual supervisory control thus provides collision- free trajectories generation having only the trajectory start position and the trajectory end position, eliminating the need for specifying additional way points in the trajectory planning.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA