| CRT工业机器人控制代码的碰撞检测 |
| |
| 引用本文： | 李吉平,耿梦,施殿波,朱华伟.CRT工业机器人控制代码的碰撞检测[J].大连轻工业学院学报,2009,28(1):69-72. |
| |
| 作者姓名： | 李吉平 耿梦 施殿波 朱华伟 |
| |
| 作者单位： | 大连工业大学机械工程与自动化学院; |
| |
| 摘 要： | 以降低碰撞检测的复杂程度为指导原则,从CRT工业机器人的运动特点出发,提出了基于最大运动空间分层索引模型的碰撞检测方法。结果表明,该方法将CRT工业机器人运动过程中的三维碰撞问题有效地简化为判断平面上一点与一封闭轮廓曲线之间位置关系的二维问题,具有算法简单、检测速度快和检测碰撞点准确等特点。通过实际开发系统实例的运行,证明了方法是正确和有效的。
|
| 关 键 词： | CRT工业机器人 控制代码 碰撞检测 |
Collision detection of control code for CRT industrial robot |
| |
| LI Ji-ping,GENG Meng,SHI Dian-bo,ZHU Hua-wei School of Mechanical Engineering & Automation,Dalian Polytechnic University,Dalian ,China.Collision detection of control code for CRT industrial robot[J].Journal of Dalian Institute of Light Industry,2009,28(1):69-72. |
| |
| Authors: | LI Ji-ping GENG Meng SHI Dian-bo ZHU Hua-wei School of Mechanical Engineering & Automation Dalian Polytechnic University Dalian China |
| |
| Affiliation: | LI Ji-ping,GENG Meng,SHI Dian-bo,ZHU Hua-wei School of Mechanical Engineering & Automation,Dalian Polytechnic University,Dalian 116034,China |
| |
| Abstract: | Based on the kinematical characteristics of CRT industrial robot,an effective method of collision detection is presented to establish a layer structure served as a spatial index in the maximum motion space.It can solve 3D-collision detection through checking the position relationship between point and closed contour curve in 2D plane. |
| |
| Keywords: | CRT industrial robot control code collision detection |
| 本文献已被 CNKI 维普 等数据库收录！ |
|
