摘要
机器人路径规划和装配路径规划都要计算空间两个物体之间的距离，实时仿真系统则要求算法既简便、快速，又能够支持规划算法．本文提出了基于Ｂ－Ｒｅｐ的计算三维物体间距离的方法，即利用物体的表面法向矢量直接计算三维物体间的定向距离．该方法达到了上述系统对物体间距离的检测要求．
The distance between 3D objects is indispensable to robot path planning and assembly path planning. Real time simulation systems need fast and simple the algorithm for the distance between 3D objects. In the meantime, the algorithm is required to support path planning. This paper presents the B Rep based method. Our method uses object surface normal vectors to obtain vector distances between 3D objects. Our method achieves the above presented requests to the algorithm for distance.
出处
《机器人》
EI
CSCD
北大核心
1998年第6期455-459,共5页
Robot
关键词
法向矢量
路径规划
仿真
机器人
Direction distance, normal vector, simulation, path planning, collision detection
