| 利用法向矢量计算三维物体间的距离 |
| |
| 引用本文： | 谭光宇,袁哲俊,姚英学.利用法向矢量计算三维物体间的距离[J].机器人,1998,20(6):455-459. |
| |
| 作者姓名： | 谭光宇 袁哲俊 姚英学 |
| |
| 作者单位： | 哈尔滨工业大学机电学院 |
| |
| 摘 要： | 机器人路径规划和装配路径规划都要计算空间两个物体之间的距离，实时仿真系统则要求算法既简便、快速，又能够支持规划算法．本文提出了基于Ｂ－Ｒｅｐ的计算三维物体间距离的方法，即利用物体的表面法向矢量直接计算三维物体间的定向距离．该方法达到了上述系统对物体间距离的检测要求．
|
| 关 键 词： | 定向距离 法向矢量 碰撞检验 路径规划 仿真 |
CALCULATING DISTANCE BETWEEN 3D OBJECTS USING NORMAL VECTOR |
| |
| TAN Guangyu\,YUAN Zhejun\,YAO Yingxue.CALCULATING DISTANCE BETWEEN 3D OBJECTS USING NORMAL VECTOR[J].Robot,1998,20(6):455-459. |
| |
| Authors: | TAN Guangyu\ YUAN Zhejun\ YAO Yingxue |
| |
| Abstract: | The distance between 3D objects is indispensable to robot path planning and assembly path planning. Real time simulation systems need fast and simple the algorithm for the distance between 3D objects. In the meantime, the algorithm is required to support path planning. This paper presents the B Rep based method. Our method uses object surface normal vectors to obtain vector distances between 3D objects. Our method achieves the above presented requests to the algorithm for distance. |
| |
| Keywords: | Direction distance normal vector simulation path planning collision detection |
| 本文献已被 CNKI 维普 等数据库收录！ |
| 点击此处可从《机器人》浏览原始摘要信息 |
|
点击此处可从《机器人》下载全文 |
