Efficient Collision Detection and Detach Control for Convex Prisms in Precision Manipulation

doi:10.1109/TII.2018.2816260

	Efficient Collision Detection and Detach Control for Convex Prisms in Precision Manipulation
	Xing, Dengpeng1,2 ; Liu, Fangfang1,2 ; Liu, Song 3; Xu, De1,2
刊名	IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
	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.
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关键词	AVOIDANCE ; VEHICLES
WOS研究方向	Automation & Control Systems ; Computer Science ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000452441800011
资助机构	Program for the National Nature Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/25653]
专题	中国科学院自动化研究所
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.