摘要
将多臂机器人各运动关节简化为具有一定直径的圆柱体,通过计算两圆柱体中心线间最短距离来进行机器人的碰撞检测研究.在此过程中,首先通过总结提炼两空间线段间的相互位置关系,在进行解析、推导的基础上,提出了8个有意义的解析几何推论,直接可得出两空间线段间的最短距离,然后根据得出的结果,设计了一个机器人运动关节间的碰撞检测算法.该算法程序设计简单,计算量小,能有效地满足实际应用需要.
Multi-boom robot's joints are simplified into cylinders with certain diameters,then the collision de- tection of multi-boom robot's joints can be studied through calculating the shortest distance between the axises of the two cylinders.At first,the location interrelation between two special line segments.Then,we present eight significative analytic geometry's deduction to get the shortest distance between two special line seg- ments.At last,with simple computer programs and less complexity,a algorithm to detect the collision between boom's joints is introduced in this paper.This algorithm can satisfy the practical requirement.
出处
《中国工程机械学报》
2003年第1期16-21,共6页
Chinese Journal of Construction Machinery
基金
国家"八六三"计划资助项目(863-512-9806-01)
关键词
多臂机器人
碰撞检测
线段
直线
multi-boom robot
collision detection
line segment
line
