Efficient Collision Detection and Detach Control for Convex Prisms in Precision Manipulation
文献类型：期刊论文
| 作者 | Xing, Dengpeng1,2 ; Liu, Fangfang1,2; Liu, Song3; Xu, De1,2
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
 |
| 出版日期 | 2018-12-01 |
| 卷号 | 14期号:12页码:5316-5326 |
| 关键词 | Collision detection convex prism detach controller |
| ISSN号 | 1551-3203 |
| DOI | 10.1109/TII.2018.2816260 |
| 通讯作者 | Xing, Dengpeng(dengpeng.xing@ia.ac.cn) |
| 英文摘要 | This 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. |
| WOS关键词 | AVOIDANCE ; VEHICLES |
| 资助项目 | Program 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] |
| WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000452441800011 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Program for the National Nature Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/25653]  |
| 专题 | 精密感知与控制研究中心_精密感知与控制 |
| 通讯作者 | Xing, Dengpeng |
| 作者单位 | 1.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 |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：自动化研究所
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