CASIA OpenIR
Efficient Collision Detection and Detach Control for Convex Prisms in Precision Manipulation
Xing, Dengpeng1,2; Liu, Fangfang1,2; Liu, Song3; Xu, De1,2
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203
2018-12-01
Volume14Issue:12Pages:5316-5326
Corresponding AuthorXing, Dengpeng(dengpeng.xing@ia.ac.cn)
AbstractThis paper proposes an efficient and accurate method for collision detection between convex prisms in precision alignment and a detach controller based on the contact location for the collision occurrence. We project the objects onto an appropriate plane and detect the collision status considering the relationship between their planar contours. Efficient methods are presented for the overlap checking of several elementary contours, and the way to obtain the vertices of the projected shapes is also introduced. The detection is then accelerated by classifying into the corresponding case based on the relative configuration and using the efficient planar checking to replace the cubic calculation. A detach controller is presented to immediately separate the objects according to the contact location once collision occurs. The computational efficiency and comparison are demonstrated in simulations, and experiments are carried out to validate the detection and the controller.
KeywordCollision detection convex prism detach controller
DOI10.1109/TII.2018.2816260
WOS KeywordAVOIDANCE ; VEHICLES
Indexed BySCI
Language英语
Funding ProjectProgram for the National Nature Science Foundation of China[61673382] ; Program for the National Nature Science Foundation of China[51405486] ; Program for the National Nature Science Foundation of China[61421004] ; Program for the National Nature Science Foundation of China[61733004]
Funding OrganizationProgram for the National Nature Science Foundation of China
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS IDWOS:000452441800011
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/25654
Collection中国科学院自动化研究所
Corresponding AuthorXing, Dengpeng
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 101408, Peoples R China
2.Univ Chinese Acad Sci, Beijing 101408, Peoples R China
3.City Univ Hong Kong, Hong Kong, Hong Kong, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Xing, Dengpeng,Liu, Fangfang,Liu, Song,et al. Efficient Collision Detection and Detach Control for Convex Prisms in Precision Manipulation[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2018,14(12):5316-5326.
APA Xing, Dengpeng,Liu, Fangfang,Liu, Song,&Xu, De.(2018).Efficient Collision Detection and Detach Control for Convex Prisms in Precision Manipulation.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,14(12),5316-5326.
MLA Xing, Dengpeng,et al."Efficient Collision Detection and Detach Control for Convex Prisms in Precision Manipulation".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 14.12(2018):5316-5326.
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