Robot Dynamic Collision Detection Method Based on Obstacle Point Cloud Envelope Model

Collision-free trajectory planning for robotic assembly of lightweight structures

“…To deal with the limitation of the RRT* algorithm for collision checks with rigid body constraints in states 1# and 2#, the algorithm is refined to incorporate the Minkowski Difference computation. The computation checks whether two shapes A and B have points in common by applying the symmetric difference function ( A ⊖ B = { a − b | a ∈ A , b ∈ B }, where a and b represent random points in the geometric models of shapes A and B respectively) [ 41 ]. If they do have a point in common, then a − b = 0 exists in the A ⊖ B set and the collision is detected.…”

“…To quantitatively evaluate the obstacle avoidance performance of the developed approach, the Minkowski distances between the obstacle space χ obs and the manipulated building objects obj at different states along the planned trajectories were calculated. The Minkowski distance is a minimum distance measurement between 3D geometries [ 41 ]. Taking the different states in the purlin assembly process illustrated in Fig.…”