摘要
本文立足于关节水平,从双机器人碰撞研究入手,提出了机器人协同作业下碰撞检测、干涉空间的算法,解决了机器人与周边环境任意障碍物碰撞问题,建立了连杆与连杆,连杆与平面,连杆与任意三维实体避障理论模型,给出了相应的计算方法及计算机仿真结果。
This article presents the methodology and algorithm for collision check and interference space for dual-robots under coordinative operation. The collision avoidance theory models are established between link to link, link to plane, and link to any three dimension object. Computer simulation results have verified that the methodology and algorithm for collision check is correct . This method has been used for multi-robot welding system.
出处
《机器人》
EI
CSCD
北大核心
2003年第2期167-171,共5页
Robot
