【摘要】 本文讨论在机器人与环境干涉问题中如何处理非完整几何体,非凸物体以及如何判別物体之间的包含关系。文中定义丁关系判别式(主要用于解决边界问题),普通判别式(描述具体完整几何体之间的关系)、特殊判别式(描述具体的非完整几何体).这三类判别式组成一个算法系统,在系统中机器人肢体用多而体表达,周围环境用多面体、能用数学公式表示的完整曲面、被平面切割的非完整曲面这三人类几何体以及它们的有限组合来描述.更多还原

【Abstract】 This paper discusses the problem of interference checking among robots and environment.Three cate-gories of discriminants are derived to determine collisions of geometric entities including non—completed,non-convex objects.The relation discriminants are used in boundary control problem,the generaldiscriminants in intersection determination of completed entities and the particular discriminants in colli-sion checking of non-completed entities.Method of identification is analyzed for cases of one object beingcntirely within another.An example is given to illustrate the applicaion of the discriminants.更多还原