Publication Type : Conference Paper
Publisher : IEEE/RSJ International Conference on Intelligent Robots and Systems
Source : IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE (2013)
ISBN : 9781467363587
Accession Number : 14002643
Keywords : Boundary conditions, DH-HEMTs, Equations, Robots, Shape, Vectors
Campus : Bengaluru
School : School of Engineering
Department : Mechanical
Verified : Yes
Year : 2013
Abstract : Cylinder, a common geometric entity has a discontinuity at the joining of cylindrical surface and circular-disks. Hence, collision detection between two cylinders in space is a difficult task and few have reported formulations to solve it. In this paper, a novel analytical methodology is proposed to detect collision or intersection between two cylinders. The configuration, i.e., position and orientation, between the cylinders was represented using the four Denavit-Hartenberg (DH) parameters plus two extra parameters. Dual Number Algebra was used to extract these six parameters. Tests involved in collision detection between the cylinders were between the lines and rectangles in a plane, thus considerably simplifying the problem of collision detection. As an illustration, an one-DOF arm modeled as a cylinder with cylindrical shaped obstacles were modeled and tested for their collisions. The results were validated with an analytical method available in the literature and a commercial software.
Cite this Research Publication : Rajeevlochana G. Chittawadigi and Saha, S. K. and, “An Analytical Method to Detect Collision between Cylinders Using Dual Number Algebra”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.