刘成良, 张凯, Jay Lee. 双机器人协调作业下碰撞算法及仿真研究[J]. 机器人, 2003, 25(2): 167-171..
LIU Cheng-Hang, ZHANG Kai, Jay Lee. RESEARCH ON COLLISION ALGORITHM FOR DUAL-ROBOT UNDER COORDINATIVE OPERATION AND SIMULATION. ROBOT, 2003, 25(2): 167-171..
Abstract: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.
[1] Shih-Liang Wang. Collision detection of multiple robots. International Journal of Robotics and Automation,1996,11(4): 183-189 [2] G Hurteau, N F Stewart. Distance calculation for imminent collision indication in a robot system simulation. Robotica, 1988,6(1): 47-51 [3] C Chang, M J Chang, Z Bien. Collision-free motion planning for two articulated robot arms using minimum distance function. robotica, 1990,8: 137-144 [4] B Cao et al. Fast collision detection and avoidance in a multiple manipulator environment. Proc IASTED Int Conf on Robotics and Manufactu [5] R Besta et al. Detecting and avoidance conditions in a common workspace. Robot Control Thory and Applications(Piscataway,NJ:Institution of Electrical Engineers,1988),185-192 [6] F M L Amirouche, T Jia. A look at the collision avoidance conditions in the motion coordination of multi-arm robot systems. Proc Computers in Engineering, 1998,1: 411-418 [7] E Cheung, V Lumelsky. Motion planning for a whole sensing robot arm manipulator. Proc IEEE Int Conf Robotics Automation Cincinnati, OH,1990, 344-349 [8] C A Shaffer, G M Herb. A real-time robot arm collision avoidance system. IEEE Trans On Robotics and Automation, 1992,8(2) [9] 王伟,杨扬,原魁. 机器人C-空间障碍边界建模与无碰撞路径规划. 机器人,1998,20(4) [10] 赵京,白师贤. 两冗余度机器人协调操作的研究. 1998,20(4) [11] Wu Wen-Zen, Lie Wen-Nung, Chen Yung-Chang. Building a 2-D workspace map for mobile robots by stereo vision and registration of marks. Proceedings of SPIE - The International Society for Optical Engineering Close-Range Photogrammetry Meets Machine Vision Sep 3-7 1990. 382-390