Collision avoidance in virtual robotized plants

scientific master's theses

• Author: Tomislav Reichenbach
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; (Department of Control and Computer Engineering); Zagreb
• Defense date and country: 2005, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics
• Universal decimal classification (UDC): 621.3 - Electrical engineering

Abstract

Virtual 3D models, normally used for testing and designing systems, can also be used in the systems operational phase as a convenient way to generate on-line collision free trajectories. The virtual environment is used to simulate possible events in the system operation. The real-time collision detection algorithm is used to determine the exact collision point on virtual model surfaces that are used as the contact sensors among the objects. The collision avoidance strategy is proposed by calculating the new manipulator kinematic parameters depending on the collision point. This approach enables the fastest collision avoidance in respect to the collision point, as now the collision point is the end of kinematic chain, thus it is directly controlled. The kinematic chain based on the collision point is used to calculate the new collision-free trajectory way points, leading to on-line iterative planning of the collision-free trajectories. The virtual supervisory control thus provides collision- free trajectories generation having only the trajectory start position and the trajectory end position, eliminating the need for specifying additional way points in the trajectory planning.

Abstract (croatian)

Virtualni 3D modeli, uobičajeno korišteni za testiranje i dizajn sustava, također su u normalnom radu procesa prikladni za dobivanje trajektorija bez sudara. Unutar virtualnog okruženja simuliraju se svi mogući događaji u radu sustava. Detekcija sudara u realnom vremenu koristi se za određivanje točke sudara na površini virtualnog modela, koja služi kao senzor kontakta izmedu objekata. Strategija izbjegavanja sudara temelji se na promjeni kinematičkog lanca manipulatora zavisno od točke sudara, čime omogućujemo najbrže izbjegavanje u odnosu na tu točku sudara, jer točka sudara postaje vrh kinematičkog lanca. Takav kinematički lanac koristi se za proračun nove točke za trajektoriju u kojoj nema sudara. Postupak se nastavlja iterativno sve dok postoje točke sudara na željenoj trajektoriji. Takav virtualni nadgledni sustav upravljanja omogućuje dobivanje trajektorije bez sudara, zadavanjem samo početne i krajnje točke željene trajektorije bez potrebe za dodavanjem dodatnih točaka.

• Keywords: Robotics; collision detection; collision avoidance; virtual environments; kinematics; inverse kinematics; trajectory planning; 3D modeling
• Keywords (croatian): Robotika; detekcija sudara; izbjegavanje sudara; virtualna okruženja; kinematika; inverzna kinematika; planiranje trajektorije; 3D modeliranje
• Language: english
• URN:NBN: urn:nbn:hr:168:572800
• Study programme: Title: Postgraduate master programme in electrical engineering; Study programme type: university; Study level: postgraduate; Academic / professional title: Magistar znanosti elektrotehnike (Magistar znanosti elektrotehnike)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-07-03 08:32:39