TY - GEN
T1 - A collision detection algorithm of Robot in off-line programming system
AU - Huang, Ruining
AU - Tang, Taoyu
AU - Lou, Yunjiang
AU - Xiao, Maolin
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/10
Y1 - 2014/10/10
N2 - In the off-line programming system, robot collision detection is one of the key technology and that was an important factor to improve virtual realistic system. In order to attain robot trajectory in the virtual environment, accurate and fast collision detection is requested. Aiming at this case, this paper adopts an accurate and fast collision detection algorithm based on space subdivision method. Through the using of hierarchical bounding box method and space decomposition method comprehensively, it can reduce the logarithm of triangles in the collision detection algorithm and increase the efficiency. One measure to be taken is to update moving objects' bounding boxes at any time, but don't change the stationary objects' bounding boxes which are built initially. Moreover, the distance threshold is also introduced, which make the collision detection more accurate. The simulation result shows that the detection method can meet the requirements of accuracy in complex virtual environment.
AB - In the off-line programming system, robot collision detection is one of the key technology and that was an important factor to improve virtual realistic system. In order to attain robot trajectory in the virtual environment, accurate and fast collision detection is requested. Aiming at this case, this paper adopts an accurate and fast collision detection algorithm based on space subdivision method. Through the using of hierarchical bounding box method and space decomposition method comprehensively, it can reduce the logarithm of triangles in the collision detection algorithm and increase the efficiency. One measure to be taken is to update moving objects' bounding boxes at any time, but don't change the stationary objects' bounding boxes which are built initially. Moreover, the distance threshold is also introduced, which make the collision detection more accurate. The simulation result shows that the detection method can meet the requirements of accuracy in complex virtual environment.
KW - Bounding box
KW - Collision detection
KW - Threshold of distance
KW - Virtual simulation of robot
UR - https://www.scopus.com/pages/publications/84910686045
U2 - 10.1109/ICIST.2014.6920400
DO - 10.1109/ICIST.2014.6920400
M3 - 会议稿件
AN - SCOPUS:84910686045
T3 - ICIST 2014 - Proceedings of 2014 4th IEEE International Conference on Information Science and Technology
SP - 349
EP - 353
BT - ICIST 2014 - Proceedings of 2014 4th IEEE International Conference on Information Science and Technology
A2 - Xu, Guoqing
A2 - Qiao, Yu
A2 - Wu, Xinyu
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 4th IEEE International Conference on Information Science and Technology, ICIST 2014
Y2 - 26 April 2014 through 28 April 2014
ER -