幾何モデルによるロボットの簡易衝突チェック

概要

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This paper describes a mothod by which collision between an articulated robot and its environment can be easily detected. Under an assumption that the robot can be roughly modeled by a wire of its skeleton shape, the collision detection is reduced to an interference detection of a trajectory face and an environmental geometric model. The trajectory face is defined to consist of ruled surfaces which are generated by sweeping of each link of the wire model along the trajectory, and the environmental geometric model is the model expanded from the original one by a radius of cylinders which approximates each link of the robot. This paper explains a method of generating a trajectory face with ruled surfaces by using Bezier curves, and of expanding the original environmental geometric model. Then the procedure of an interference detecting operation of the ruled surfaces and the expanded model is mathematically discussed, and finally the efficiency of collision check with respect to calculating time is shown.
社団法人精密工学会の論文
1984-06-05