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Motion control for cylindrical objects in microscopes’ view using a projection method: I. collision detection and detach control
dengpeng xing; Fangfang Liu; Song Liu; De Xu
Source PublicationIEEE Transactions on Industrial Electronics
2017-07
Volume64Issue:7Pages:5524-5533
Other AbstractThis paper investigates collision detection between cylindrical or cylinder-enveloped components when mutual blocking occurs in the view of microscopes and detach control to separate objects if contact occurs. We use a projectionmethod to convert two microscopic views to contours on a projection plane and to detect high-dimensional collision by studying the projection’s relationships in low dimension. Eleven cases are totally categorized and 12 parameters are constructed for detection on the basis of relative postures and positions. Furthermore, we present a detach controller to handle with object contact according to collision status, objects’ main axis, and the computed contact position. Simulations and experiments are carried out to demonstrate the validity of the proposed method.
KeywordCollision Detection
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20357
Collection精密感知与控制研究中心_人工智能与机器学习
Recommended Citation
GB/T 7714
dengpeng xing,Fangfang Liu,Song Liu,等. Motion control for cylindrical objects in microscopes’ view using a projection method: I. collision detection and detach control[J]. IEEE Transactions on Industrial Electronics,2017,64(7):5524-5533.
APA dengpeng xing,Fangfang Liu,Song Liu,&De Xu.(2017).Motion control for cylindrical objects in microscopes’ view using a projection method: I. collision detection and detach control.IEEE Transactions on Industrial Electronics,64(7),5524-5533.
MLA dengpeng xing,et al."Motion control for cylindrical objects in microscopes’ view using a projection method: I. collision detection and detach control".IEEE Transactions on Industrial Electronics 64.7(2017):5524-5533.
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