Research of the Collision Problem for Dual Robot Coordination System
Aiming at the problem that the multi-degree-of-freedom dual manipulator may collide in the same workspace,a simplified model of the robot envelope is established. The joint is simplified as a sphere envelope and the connecting rod is simplified as a cylindrical envelope. And the calculation method o...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.11.003 |
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| _version_ | 1841547747422896128 |
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| author | Cong Fei Zhang Qiuju |
| author_facet | Cong Fei Zhang Qiuju |
| author_sort | Cong Fei |
| collection | DOAJ |
| description | Aiming at the problem that the multi-degree-of-freedom dual manipulator may collide in the same workspace,a simplified model of the robot envelope is established. The joint is simplified as a sphere envelope and the connecting rod is simplified as a cylindrical envelope. And the calculation method of the shortest distance between the points and the point to the line segment and the outermost line segments is proposed by detecting the interference between these two simplified models of the double manipulator. The detection algorithm is implemented in VC ++,and the Staubli six-axis dual-robot model is applied to Solid Works for the simulation,the feasibility of this algorithm is verified by the experimental results. |
| format | Article |
| id | doaj-art-70730a23390e48ccb82eb9c85b73e871 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-70730a23390e48ccb82eb9c85b73e8712025-01-10T14:20:33ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141131629933438Research of the Collision Problem for Dual Robot Coordination SystemCong FeiZhang QiujuAiming at the problem that the multi-degree-of-freedom dual manipulator may collide in the same workspace,a simplified model of the robot envelope is established. The joint is simplified as a sphere envelope and the connecting rod is simplified as a cylindrical envelope. And the calculation method of the shortest distance between the points and the point to the line segment and the outermost line segments is proposed by detecting the interference between these two simplified models of the double manipulator. The detection algorithm is implemented in VC ++,and the Staubli six-axis dual-robot model is applied to Solid Works for the simulation,the feasibility of this algorithm is verified by the experimental results.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.11.003Two-robotCoordination operationDetection collision |
| spellingShingle | Cong Fei Zhang Qiuju Research of the Collision Problem for Dual Robot Coordination System Jixie chuandong Two-robot Coordination operation Detection collision |
| title | Research of the Collision Problem for Dual Robot Coordination System |
| title_full | Research of the Collision Problem for Dual Robot Coordination System |
| title_fullStr | Research of the Collision Problem for Dual Robot Coordination System |
| title_full_unstemmed | Research of the Collision Problem for Dual Robot Coordination System |
| title_short | Research of the Collision Problem for Dual Robot Coordination System |
| title_sort | research of the collision problem for dual robot coordination system |
| topic | Two-robot Coordination operation Detection collision |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.11.003 |
| work_keys_str_mv | AT congfei researchofthecollisionproblemfordualrobotcoordinationsystem AT zhangqiuju researchofthecollisionproblemfordualrobotcoordinationsystem |