| 机器人双臂操作中防碰的一个实用数学模型及计算 |
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| 引用本文： | 孙耕田,张燕.机器人双臂操作中防碰的一个实用数学模型及计算[J].山东师范大学学报(自然科学版),1991,6(4):21-24. |
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| 作者姓名： | 孙耕田 张燕 |
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| 作者单位： | 山东师大计算中心，山东师大数学系，沈阳大学 |
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| 摘 要： | 本文以实用为目的,给出了用计算机预测双臂机器人操作过程中互相碰撞的时间的可行算法,以达到避免碰撞的目的,使用LISP语言在VAX—8350机上实现了本文设计算法的仿真过程,完全达到了预期的效果。
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| 关 键 词： | 机器人 双臂操作 数学模型 碰撞 |
A PRACTICAL MATHEMATICAL MODEL AND ARITHMETIC FOR PREVENTING THE COLLISION OF TWO ANTHROPOMORPHIC ARMS OF A ROBOT IN OPERATION |
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| Sun Gengtian,Zhang Yan,Zhang Xiaozu Computing Center.A PRACTICAL MATHEMATICAL MODEL AND ARITHMETIC FOR PREVENTING THE COLLISION OF TWO ANTHROPOMORPHIC ARMS OF A ROBOT IN OPERATION[J].Journal of Shandong Normal University(Natural Science),1991,6(4):21-24. |
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| Authors: | Sun Gengtian Zhang Yan Zhang Xiaozu Computing Center |
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| Institution: | Sun Gengtian;Zhang Yan;Zhang Xiaozu Computing Center Department of Mathematics Shenyang University |
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| Abstract: | To avoid the collision of two anthropomorphic arms of a robot, a practicable arithmetic method of calculating the mutual collision time is given by using a comput-er. The algorithm designed in this paper has been proved effectively with LISP language on VAX-835O and obtained the expected result. |
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| Keywords: | convex polyhedron three-dimensional simplex LISP language |
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