Interference/Collision Detection Using Geometric Halfspaces

1991 ◽  
Author(s):  
John G. Letter ◽  
Zhi-Kui Ling
Keyword(s):  
Collision Detection ◽  
Characteristic Functions ◽  
Relative Location ◽  
Simple Point ◽  
Solid Modelling ◽  
Detection Analysis ◽  
Solid Objects ◽  
Engineering Problems ◽  
Three Degree Of Freedom ◽  
Cylinders And Spheres

Abstract Analyzing engineering problems with solid modelling has significantly increased in popularity in recent years. One of the areas of analyses is interference and collision detection between solid objects. Interference is defined as a condition in which two objects share a portion of space at the same instance of time. Collision is defined as a condition in which the surfaces of two objects are in contact. This paper presents a method of determining interferences and collisions between objects defined by geometric halfspaces. Specifically, it is implemented in a process of determining collision free paths of a three degree of freedom manipulator installed in a recirculating nuclear steam generator. Possible interference / collision between the components of the manipulator and generator are examined. Halfspaces are used to construct solid objects for the purpose of determining interferences and collisions between any two objects. Halfspaces are defined as simple point sets that have characteristic functions. The halfspaces presented in this paper are planes, cylinders, and spheres. Definition points, which are a set of discrete points on the surface of the object, approximate the shape of the object. Halfspaces and definition points are the information required for the interference / collision detection analysis. The technique addressed in this paper checks the relative location of the definition points of one object with the geometric halfspaces of another object. The result of each analysis determines if the objects are either interfering with, in contact with, or separated from each other.

Collision Detection for Assembly Planning Using Solid Modelling

1998 ◽  
Author(s):  
Sa’id Golabi ◽  
Kazem Abhary
Keyword(s):  
Collision Detection ◽  
Assembly Planning ◽  
Solid Modelling ◽  
Starting Point ◽  
Fixed Part ◽  
Grid Points ◽  
Direction Determining

Abstract Details of a method for detecting collision of two parts when one is moved along a direction are discussed in this paper. Reduced number of grid points and the rays emit from these points to detect the intersection of a moving part with a fixed part, is the main advantage of this method comparing with the previous works in the literature. The intersection of rays, sent from a plane considerably far from both parts, with the faces of moving and fixed part are detected in this methods. If any ray intersects the moving part before intersecting the fixed part, the moving part will collide with the fixed part in that direction. Determining the starting point of the rays and detecting intersection of rays with the parts are also discussed in this paper.

Haptic Wrists: An Alternative Design Strategy Based on User Perception

2009 ◽  
Vol 9 (1) ◽  
Author(s):  
Javier Martín ◽  
Joan Savall ◽  
Iñaki Díaz ◽  
Josune Hernantes ◽  
Diego Borro
Keyword(s):  
Collision Detection ◽  
Design Problem ◽  
Force Feedback ◽  
Mechanical Design ◽  
Design Strategy ◽  
User Perception ◽  
Satisfactory Solution ◽  
Alternative Design ◽  
Three Degree Of Freedom ◽  
Mechanical Design Problem

A new three degree-of-freedom (3DOF) torque feedback wrist is being developed to be added to an existing 3DOF force feedback haptic device. It is difficult to find a satisfactory solution to the mechanical design problem, mainly because of the required large rotational workspace and severe weight constraints. This work proposes an alternative design strategy based on user perception, which allows simplification of the mechanics. The proposed approach consists of substituting the last rotational DOF of the wrist with a pseudohaptic DOF. Thanks to specially designed visuotactile cues, the pseudohaptic DOF is integrated with the active DOF into the same device, being able to generate free motion and collision detection perception to the user. This approach provides for simpler kinematics, lightweight designs, lower inertias, and less friction, which are key advantages for the inclusion of torque feedback into force feedback devices.

Haptic Interaction Within a Planar Environment

2000 ◽  
Author(s):  
S. P. DiMaio ◽  
S. E. Salcudean ◽  
M. R. Sirouspour
Keyword(s):  
Collision Detection ◽  
Effective Means ◽  
Simulation Software ◽  
Environment Design ◽  
Simulation Environment ◽  
Haptic Interaction ◽  
Interface Control ◽  
Simulated Environments ◽  
Three Degree Of Freedom ◽  
Haptic Simulation

Abstract A haptic simulation environment to simulate planar three-degree-of-freedom motion has been developed by the authors. The system consists of a novel parallel manipulandum and associated control, collision detection and dynamic simulation software running on a QNX PC. This paper describes haptic interface control and outlines the control systems that have been designed for the haptic rendering of virtual environments. Virtual environment design and implementation are also discussed. Using the haptic simulation environment that has been developed, a four-channel teleoperation architecture is shown to be an effective means to display a variety of simulated environments and is compared with a popular impedance-based approach.

Application of the Concave Arc Surface Collision Detection Method to Virtual Assembly

2021 ◽  
Author(s):  
xin shi ◽  
Li Tian
Keyword(s):  
Collision Detection ◽  
Detection Method ◽  
Power Line ◽  
Robot Hand ◽  
Relative Location ◽  
Motion Simulation ◽  
Detection Techniques ◽  
Exact Location ◽  
Surface Collision ◽  
Manipulation Process

Abstract Exact location calculation between each part of a parallel groove clamp when connecting a power line with a jumper is addressed in this paper. The relative location between a concave clamp and convex power line cannot be measured directly in live-line manipulation. We propose a concave arc surface collision detection method embedded in motion simulation. The relative location between irregular concave parts in the manipulation process can be obtained. The method is found to be computationally less expensive than convex partitioning collision detection techniques. This research provides a foundation for further study on robot hand manipulation with irregular assembly.

Interactive Haptic Refinement of a Five-Axis Finishing Cut

2008 ◽  
Vol 8 (4) ◽  
Author(s):  
Kun Chen ◽  
Kai Tang
Keyword(s):  
Collision Detection ◽  
Force Feedback ◽  
Haptic Guidance ◽  
Detection Scheme ◽  
Cutter Path ◽  
Cutter Orientation ◽  
Three Degree Of Freedom ◽  
Five Axis ◽  
Cutter Path Generation ◽  
Fast Collision

This paper describes the design of a haptic system that allows the interactive modification of cutter orientation during five-axis finishing cuts with the aim of improving the surface finish quality and collision avoidance strategies. The system supports two haptic models that provide three degree of freedom (DOF) force feedback and 6DOF posture sensing. Details of five key functions of the system are given: (1) a rendering conversion that uses 3DOF (instead of five) force feedback haptic representation, (2) an efficient force feedback design that allows accurate results to be obtained from the user’s manipulation, (3) a fast collision detection scheme that achieves real-time feedback, (4) use of active haptic guidance to assist cutter-path generation, and (5) a design that supports both ball-end and flat-end tools with partial optimization.

scholarly journals Study on the Control of Underground Rivers by Reverse Faults in Tunnel Site and Selection of Tunnel Elevation

Water ◽  
2019 ◽  
Vol 11 (5) ◽  
pp. 889 ◽  
Author(s):  
Peixing Zhang ◽  
Zhen Huang ◽  
Shuai Liu ◽  
Tiesheng Xu
Keyword(s):  
Control Mechanism ◽  
Water Inrush ◽  
Dynamic Monitoring ◽  
Reverse Fault ◽  
Relative Location ◽  
Control Factors ◽  
Engineering Problems ◽  
Underground River ◽  
Selection Of

Along with the need for western economic development, the number of long tunnel projects which go through mountains is constantly on the rise. In the process of construction, various disaster-causing structures are frequently exposed, which leads to many geological disasters. The traditional idea is that the reverse fault is not easily developed for an underground river, which means that the tunnel elevation design is not considered adequately. When some tunnels cross the bottom of the river, the fractures near the fault between the underground river and the excavation space may be activated and then evolve into channels, causing serious water inrush accidents during construction and operation processes. Taking the Qiyueshan Tunnel site as an example, on the premise of the anatomy of the control mechanism of the reverse fault on the development of the underground river, based on the multiperiod typical structural traces of the tunnel and surface outcrop, it was found that stratifications, dip joints, transverse joints, and tension joints of good aperture grade are important control factors. The cut block easily loses its stability and provides space for karst development, while intermittent uplifting of regional structures provides hydrodynamic conditions for the development of the underground river, causing the hydraulic gradient to be inconsistent in the overall underground river. Finally, the rainwater dynamic monitoring and tracer connectivity are data that can be fully utilized to demonstrate that a reverse fracture can control the development of the underground river. The authors further considered the effect of the vertical zoning of the fault structure and the excavation disturbance, and, drawing on the experience of the relative location of the same site in the same field, put forward the suggestion that the construction of the follow-up tunnel in the study area should be slightly higher than the elevation of the underground river. The research results can provide useful reference for similar engineering problems in the future.

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