林怡青. 机器人与环境的干涉问题研究[J]. 机器人, 1987, 9(3): 43-46,51.
引用本文: 林怡青. 机器人与环境的干涉问题研究[J]. 机器人, 1987, 9(3): 43-46,51.
LIN Yiqing. On Interference between a Robot and the Environment[J]. ROBOT, 1987, 9(3): 43-46,51.
Citation: LIN Yiqing. On Interference between a Robot and the Environment[J]. ROBOT, 1987, 9(3): 43-46,51.

机器人与环境的干涉问题研究

On Interference between a Robot and the Environment

  • 摘要: 本文研究机器人肢体与周围环境的干涉问题,引入可能干涉区的概念,提出判别干涉的基本原则,推导出一系列形式简单的干涉判别式.使用这一套判别式,干涉对象不仅可以表示为多面体,也可以表示为圆柱体,球体以及它们的任意组合体.

     

    Abstract: This paper discusses the problem of interference between,limbs of a robot and the environment.The concept of"possible interference region"is introduced,and principle of collision detection is proposed.A series of criteria for interference detection are derived for polyhedron,cylinders,spheres,and combination of them.

     

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