Robot Modelling and Collision Detection with MATLAB Robotics Toolbox
The modelling of robotic systems and collision detection are important tasks for the manufacturing industry,targeting the reduction of possible damages to the robot working environment and human operators.The MATLAB software and Robotics Toolbox are powerful tools for robotics modelling and collision analysis.It provides means for the 3D modelling of robot,workcell and its components in MATLAB.The components include conveyors,cube shape and sphere shape objects which used to construct complex structures representing robot working environment.This paper describes an approach for collision detection between the robot and its working environment.Two main collision detection approaches are presented; one is based on the distance calculation between the robot and the obstacle,the second one consists on analyzing the trajectory of both the robot and the obstacle.For control purposes,several graphical user interfaces have been developed in order to make the process and the reading of the collision results clear for the user.
collision detection robot workcell modelling
Xiao-yun Deng Andrei Lobov Jose L.Martinez Lastra
Department of Production Engineering, Tampere University of Technology, Tampere, Finland
国际会议
天津
英文
392-397
2012-10-16（万方平台首次上网日期，不代表论文的发表时间）