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| 목차 |
부제 : A Collision Modeling Method for Multiple Manipulators Task Planning Using Shadow Space
Abstract
I. 서론
II. 문제 정의
III. 쉐도우 공간을 이용한 충돌 검사 방법
IV. 시뮬레이션을 통한 검증
V. 결론
REFERENCES
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| 영문초록 |
| For the cooperative task planning of multiple manipulators, it is very important to check the collisions among the links and the end-effectors of the manipulators on their movement routes. This paper aims to propose a novel collision check method for multiple mainpulators using the concept of a shadow space. The shadow space is defined as the space that a manipulator sweeps while moving in a 3-dimentional workspace. The workspace is discretized into MxNxL voxels; then, the discretized workspace is explicitly represented as a rank-3 tensor, which is named a shadow space tensor. When a manipulator moves from one task point to another, the shadow space tensor contains the spatial information with respect to the shadow space of the manipulator during the movement. The collision conditions among the manipulators can be simply detected using their shadow space tensors. This paper presents a definition of a problem about the collision detection among multiple manipulators and proposes the collision checking method using the shadow space tensors. Then, the proposed method is validated through 3D robot simulation. |
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| 도움말 |
| 본 논문은 참고용 논문으로 수정 및 텍스트 복사가 되지 않습니다. |
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| 저작권 정보 |
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| 본 학술논문은 ㈜누리미디어와 각 학회간에 저작권 계약이 체결된 것으로 HAPPY학술이 제공하고 있습니다. 본 저작물을 불법적으로 이용시는 법적인 제재가 가해질 수 있습니다. |
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분야
3672002 
