| Popis: |
The industral robot performance testing instrument, joining with the robot to be tested. comprises a closed chain mechanism with multiple links.The collision between each link and another may result in damage of the equipment. In order to avoid collision, an algorithm for detecting link collision has been developed. In the application of this algorithm, the criterion equation needs only contain a few coordinate values corresponding to some special points on the exterior surface of the robot to be tested. This will make the algorithm simple and effective,and calculation fast in the calculation,the input of parameters and the output of results are realized through hu- man computer interaction. A computer program, based on this algorithm, has been developed. This program has been applied successfully to testing processes. |
