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| 机器人关节间的碰撞检测 | |
| 引用本文： | 陈科良,杨小娟,熊勇刚,周友行,林峰.机器人关节间的碰撞检测[J].湖南工业大学学报,2004,18(5). |
| 作者姓名： | 陈科良 杨小娟 熊勇刚 周友行 林峰 |
| 作者单位： | 1. 湖南省第五工程公司,湖南,株洲,412000 2. 株洲工学院,湖南,株洲,412008 3. 湘潭大学,机械工程学院,湖南,湘潭41105 4. 627厂,军代室,湖南,湘潭411000 |
| 摘 要： | 将多臂机器人机械臂和各运动关节简化为圆柱体,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.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7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. |
| 关 键 词： | 多臂机器人 碰撞检测 线段 直线 |
Collision Detection of Multi-boom Robot's Joints |
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| CHEN Ke-liang,YANG Xiao-juan,XIONG Yong-gang,ZHOU You-xing,LIN Feng.Collision Detection of Multi-boom Robot''''s Joints[J].Journal of Hnnnan University of Technology,2004,18(5). | |
| Authors: | CHEN Ke-liang YANG Xiao-juan XIONG Yong-gang ZHOU You-xing LIN Feng |
| Affiliation: | CHEN Ke-liang~1,YANG Xiao-juan~2,XIONG Yong-gang~2,ZHOU You-xing~3,LIN Feng~4 |
| Abstract: | Multi-boom robot's joints are simplified into cylinders with certain diameters, then the collision detection 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 is concluded between two special line segments. Then, 7 significative analytic geometry's deduction is presented to get the shortest distance between two special line segments. At last, with simple computer programs and less complexity, an algorithm to detect the collision between boom's joints is introduced . This algorithm can satisfy the practical requirement. |
| Keywords: | multi-boom robot the collision detection line segment line |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |