prikaz prve stranice dokumenta Collision avoidance in virtual robotized plants
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scientific master's theses
Collision avoidance in virtual robotized plants
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2005. urn:nbn:hr:168:572800
Reichenbach, Tomislav
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Institutional repository: FER Repository

Cite this document

Reichenbach, T. (2005). Collision avoidance in virtual robotized plants (Scientific master's theses). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:572800

Reichenbach, Tomislav. "Collision avoidance in virtual robotized plants." Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, 2005. https://urn.nsk.hr/urn:nbn:hr:168:572800

Reichenbach, Tomislav. "Collision avoidance in virtual robotized plants." Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, 2005. https://urn.nsk.hr/urn:nbn:hr:168:572800

Reichenbach, T. (2005). 'Collision avoidance in virtual robotized plants', Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:572800

Reichenbach T. Collision avoidance in virtual robotized plants [Scientific master's theses]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2005 [cited 2024 December 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:572800

T. Reichenbach, "Collision avoidance in virtual robotized plants", Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2005. Available at: https://urn.nsk.hr/urn:nbn:hr:168:572800

Metadata
TitleCollision avoidance in virtual robotized plants
AuthorTomislav Reichenbach
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2005, 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
Keywords (croatian)
Languageenglish
URN:NBNurn:nbn:hr:168:572800
Study programmeTitle: Postgraduate master programme in electrical engineering
Study programme type: university
Study level: postgraduate
Academic / professional title: Magistar znanosti elektrotehnike (Magistar znanosti elektrotehnike)
Type of resourceText
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Created on2019-07-03 08:32:39