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A projective method for collision detection of robot arms moving among obstacles

机译：一种碰撞检测机器人臂碰撞障碍物的投射方法

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The authors present a projective method for collision detection for robot arms moving among obstacles. A mixed model for describing objects is suggested. Procedures for intersection checking among primitive shapes are developed that are based on the idea that two objects have no intersection if one can find a particular projection direction such that the images of the two objects have no intersection on the projection plane. It is noted that not all of these algorithms provide necessary and sufficient conditions for collision detection. However, none of them requires more than two projections to determine whether a collision is likely to occur. Furthermore, images of the objects after projection are simple shapes such as circles and polygons. Thus, the checking procedures are simple and efficient for online implementation. The method can also be applied for planning paths for multiarm robots. Simulation results are included to demonstrate the applicability of the algorithms.
机译：作者提出了一种碰撞检测的投射方法，用于机器人臂在障碍物中移动。建议描述用于描述对象的混合模型。开发基于原始形状之间的交叉检查的程序，其基于这样的想法，如果可以找到特定的投影方向，使得两个物体的图像在投影平面上没有交叉点。注意，并非所有这些算法都为碰撞检测提供了必要和充分的条件。然而，它们都不需要两个以上的投影来确定是否可能发生碰撞。此外，投影后物体的图像是诸如圆和多边形的简单形状。因此，检查程序简单且有效地用于在线实现。该方法也可以应用于多神器机器人的规划路径。包括仿真结果以证明算法的适用性。

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