Volume 39 Issue 12
Dec.  2013
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Chen Youdong, Yan Liang, Gu Pingpinget al. Detection collision algorithm for two-manipulator system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(12): 1644-1648. (in Chinese)
Citation: Chen Youdong, Yan Liang, Gu Pingpinget al. Detection collision algorithm for two-manipulator system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(12): 1644-1648. (in Chinese)

Detection collision algorithm for two-manipulator system

  • Received Date: 04 Jan 2013
  • Publish Date: 30 Dec 2013
  • In order to detect the collision between two manipulators in a shared workplace, a detection collision algorithm between two manipulators and a geometrical model of manipulator were proposed. The joints and links were represented by spheres and capsules (composed by a cylinder and two hemispheres in the ends of the cylinder), respectively. The calculating of the detection collision between two manipulators was turned into the calculating the distance between geometric elements. In order to calculate the distance between two capsules, a method of computing the distance between two line segments was proposed. The detection collision algorithm was simulated by a KUKA two-manipulator system, and the effectiveness of the presented detection collision method was confirmed through the verification of the detection collision between two KUKA manipulators in UG software.

     

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