シミュレーションによる移動物体間の衝突チェック

概要

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This paper describes an algorithm of collision detection between moving robots in off-line teaching. Graphical simulation of robot motion has been recognized to be useful for industrial applications, since visual check-up of the programmed 3-dimensional motion can confirm the programmer's intention easily. But it is still difficult to visually detect a collision between moving robots. Therefore, in this paper, the requirements necessary for detecting collisions between robots are described first and an algorithm meeting them is proposed. In this method, we assume that the motion of each moving object is described as a function of time. A collision occurs in one of the two cases; a vertex collides with a plane or an edge collides with another edge. By solving the equations that satisfy the conditions of collision, we can get the time and position of the collision between moving objects. The equations are shown and the complexity and error of the computation is discussed. Finally, some issues in implementation are addressed and experimental results are shown to prove the effectiveness of the algorithm proposed in this paper.
一般社団法人日本ロボット学会の論文