Efficient Calculation of Minimum Distance Between Capsules and Its Use in Robotics
TypeArticles dans des revues avec comité de lecture
The problem of minimum distance calculation between line-segments/capsules, in 3D space, is an important subject in many engineering applications, spanning CAD design, computer graphics, simulation, and robotics. In the latter, the human robot minimum distance is the main input for collision avoidance/detection algorithms to measure collision imminence. Capsules can be used to represent humans and objects, including robots, in a given dynamic environment. In this scenario, it is important to calculate the minimum distance between capsules ef ciently, especially for scenes (situations) that include a high number of capsules. This paper investigates the utilization of QR factorization for performing ef cient minimum distance calculation between capsules. The problem is reformulated as a bounded variable optimization in which an af ne transformation, deduced from QR factorization, is applied on the region of feasible solutions. A geometrical approach is proposed to calculate the solution, which is achieved by computing the point closest to the origin from the transferred region of feasible solutions. This paper is concluded with numerical tests, showing that the proposed method compares favorably with the most ef cient method reported in the literature.
Files in this item
Showing items related by title, author, creator and subject.
BEAREE, Richard (Elsevier, 2014)This paper derives a jerk-shaped profile to address the vibration reduction of underdamped flexible dynamics of motion system. The jerk-limited profile is a widespread smooth command pattern used by modern motion systems. ...
DELPOUX, Romain; BEAREE, Richard; OLABI, ADEL; GIBARU, OLIVIER (2014)This paper is concerned with preliminaries results on robot vibratory modes on-line estimation. The dominating oscillatory mode of the robot arm is isolated by comparing the robot position given by the motors encoders and ...
BEAREE, Richard; BARRE, Pierre-Jean (AFM, EDP Sciences, 2007)L’augmentation des performances des machines de positionnement passe par l’augmentation des accélérations et donc des sollicitations transmises à la structure de la machine. Ces contraintes sont susceptibles d’engendrer ...
OUESLATI, Marouene; THIERY, Stéphane; GIBARU, Olivier; BEAREE, Richard; MORARU, George (IMAACA, 2011)This article address the identification problem of the natural frequency and the damping ratio of a second order continuous system where the input is a sinusoidal signal. An algebra based approach for identifying parameters ...
BEAREE, Richard; OLABI, Adel (Elsevier, 2013)Jerk-limited trajectories are a widespread solution for the trajectory planning of industrial machines Tools or robots. It is known that jerk limitation can reduce vibrations and in some cases can totally suppress residual ...