Engineering Mechanics

Proceedings Vol. 10 (2004)

ENGINEERING MECHANICS 2004

Copyright © 2004 Institute of Thermomechanics, Academy of Sciences of the Czech Republic, Prague

 

Chmelíček J., Grepl R., Bezdíček M., Švehlák M.
pages 125 - +6p., full text

Detection of collision states among single parts of robot strucure is essential problem, that is necessary to solve at robot movement in virtual space, in mathematical models, based on substitution of real structures by rigid bodies and above all at robot safe movement. Last introduced case is important especially at robot driving, where collision detection algorithm serve as backward verification before moment, when robot take newly computed position. Detection algorithm in this case hold important function, which is implemented in robot driving system. This function than protect robots construction against damage, overloading of actuators and stability of robot movement. Goal of this article is description of some solutions of this problem, including charakterization of our solution.

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