| An overview on distance and pseudo distance functions and their applications |
| |
| 作者姓名： | ZHUXiangyang DINGHan ZHONGBinglin XlONGYoulun |
| |
| 作者单位： | [1]SchoolofMechanicalEngineering,ShanghaiJiaotongUniversity,Shanghai200030,China [2]BeijingNormalUniversity,Beijing100875,China [3]SchoolofMechanicalEngineering,HuazhongUniversityofScienceandTechnology,Wuhan430074,China |
| |
| 摘 要： | The fast and accurate collision detection and distance calculation between geometric models is fundamental in robotics, manufacturing and computer-simulated environments. This paper surveys the state of the art in the theory and algorithms of distance and pseudo distance functions between convex sets. An overview on the existing results,including fast algorithms for distance calculation, definitions and properties of various pseudo distance functions (the J-function, the growth distance, and the pseudo minimum translational distance), is presented. The distance and pseudo distance functions are versatile in a wide range of areas.Their applications in robot motion planning, grasp analysis/synthesis, form error evaluation, and engineering optimization is demonstrated.
|
| 关 键 词： | 位移计算 几何模型 机器人技术 制造业 计算机模拟技术 快速运算法则 工程最优化 多面体 |
| 收稿时间： | 2003-02-28 |
An overview on distance and pseudo distance functions and their applications |
| |
| ZHUXiangyang DINGHan ZHONGBinglin XlONGYoulun.An overview on distance and pseudo distance functions and their applications[J].Chinese Science Bulletin,2003,48(16):1686-1695. |
| |
| Authors: | Zhu Xiangyang Ding Han Zhong Binglin Xiong Youlun |
| |
| Institution: | (1) School of Mechanical Engineering, Shanghai Jiaotong University, 200030 Shanghai, China;(2) Beijing Normal University, 100875 Beijing, China;(3) School of Mechanical Engineering, Huazhong University of Science and Technology, 430074 Wuhan, China |
| |
| Abstract: | The fast and accurate collision detection and distance calculation between geometric models is fundamen-tal in robotics, manufacturing and computer-simulated en-vironments. This paper surveys the state of the art in the theory and algorithms of distance and pseudo distance func-tions between convex sets. An overview on the existing results, including fast algorithms for distance calculation, definitions and properties of various pseudo distance functions (the J-function, the growth distance, and the pseudo minimum translational distance), is presented. The distance and pseudo distance functions are versatile in a wide range of areas. Their applications in robot motion planning, grasp analy-sis/synthesis, form error evaluation, and engineering optimi-zation is demonstrated. |
| |
| Keywords: | convex sets polyhedra minimum (translational) dis-tance J-function growth distance pseudo minimum translational distance |
| 本文献已被 CNKI 维普 万方数据 SpringerLink 等数据库收录！ |
| 点击此处可从《中国科学通报(英文版)》浏览原始摘要信息 |
| 点击此处可从《中国科学通报(英文版)》下载免费的PDF全文 |
|
