engleski

Collision Avoidance in Virtual Robotized Plants

Virtual 3D models, normally used for testing and designing systems, can also be used in the systems operational phase as a convenient way to generate on-line collision free trajectories. The virtual environment is used to simulate possible events in the system operation. The real-time collision detection algorithm is used to determine the exact collision point on virtual model surfaces that are used as the contact sensors among the objects. The collision avoidance strategy is proposed by calculating the new manipulator kinematic parameters depending on the collision point. This approach enables the fastest collision avoidance in respect to the collision point, as now the collision point is the end of kinematic chain, thus it is directly controlled. The kinematic chain based on the collision point is used to calculate the new collision-free trajectory way points, leading to on-line iterative planning of the collision-free trajectories. The virtual supervisory control thus provides collision- free trajectories generation having only the trajectory start position and the trajectory end position, eliminating the need for specifying additional way points in the trajectory planning.

robotics; collision detection; virtual environments; kinematics; inverse kinematics; trajectory planning; 3D modeling

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