Naslov
Collision-free path planning in robot cells using virtual 3D collision sensors

Autori
Reichenbach, Tomislav ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni

Knjiga
Cutting Edge Robotics

Urednik/ci
Kordic, Vedran ; Lazinica, Aleksandar ; Merdan, Munir

Izdavač
Verlag Robert Mayer-Scholz

Grad
Mammendorf

Godina
2005

Raspon stranica
683-704

ISBN
3-86611-038-3

Ključne riječi
robotics, collision detection, collision avoidance, virtual modeling

Sažetak
The algorithm for a collision-free trajectory generation is proposed and its implementation in on-line supervisory control of FMS is described. The algorithm makes the use of a collision detection engine applied in computer graphics and the change in a manipulator kinematics related to the virtual model of the FMS and exact position of the collision point. Virtual model surfaces are used as contact sensors to prevent objects from colliding. Any point of the robot’ s surface can be controlled and its trajectory planned. The exact 3D model is not a prerequisite for successful collision avoidance ; however, with a better model more precise collision avoidance is possible. The algorithm is also very adaptable when planning trajectories for manipulators with different end-effectors or manipulators carrying various objects.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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