TY - GEN
T1 - Real-time collision detection for manipulators based on fuzzy synthetic evaluation
AU - Jing, Xia
AU - Wu, Guangxin
AU - Li, Chongyang
AU - Hong, Liu
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/1
Y1 - 2016/9/1
N2 - To overcome the shortcoming that the collision detection method based on three-dimension model only depends on the shortest distance between components to determine collision, a novel collision detection method for manipulators is proposed to indicate how dangerous the current movement of the robot are to the surrounding objects. The method more comprehensively considers the effect of the shortest distance, motion state, braking performance of joints, robot control mode and the contact state on robot collision risk, obtains a robot collision risk index by using the fuzzy synthetic evaluation. At the same time, building the collision detection model by using sphere sweeping convex hulls (SSCH) improves the real-time of the collision detection. Finally, the proposed method is validated through simulations and experiments.
AB - To overcome the shortcoming that the collision detection method based on three-dimension model only depends on the shortest distance between components to determine collision, a novel collision detection method for manipulators is proposed to indicate how dangerous the current movement of the robot are to the surrounding objects. The method more comprehensively considers the effect of the shortest distance, motion state, braking performance of joints, robot control mode and the contact state on robot collision risk, obtains a robot collision risk index by using the fuzzy synthetic evaluation. At the same time, building the collision detection model by using sphere sweeping convex hulls (SSCH) improves the real-time of the collision detection. Finally, the proposed method is validated through simulations and experiments.
KW - Collision detection
KW - fuzzy synthetic evaluation
KW - manipulators
KW - sphere sweeping convex hulls
UR - https://www.scopus.com/pages/publications/84991245108
U2 - 10.1109/ICMA.2016.7558661
DO - 10.1109/ICMA.2016.7558661
M3 - 会议稿件
AN - SCOPUS:84991245108
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 777
EP - 782
BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Y2 - 7 August 2016 through 10 August 2016
ER -