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A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell

Collision detection is crucial in virtual manufacturing applications such as virtual prototyping, virtual assembly and virtual robot path planning. For accurate simulation of manufacturing systems and processes in virtual environment, physical interaction with the objects in the scene are triggered...

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Main Author: Arshad, Haslina
Format: Thesis
Language:English
English
Published: 2008
Online Access:http://psasir.upm.edu.my/id/eprint/5421/1/FK_2008_44.pdf
http://psasir.upm.edu.my/id/eprint/5421/
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id my.upm.eprints.5421
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spelling my.upm.eprints.54212013-05-27T07:22:42Z http://psasir.upm.edu.my/id/eprint/5421/ A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell Arshad, Haslina Collision detection is crucial in virtual manufacturing applications such as virtual prototyping, virtual assembly and virtual robot path planning. For accurate simulation of manufacturing systems and processes in virtual environment, physical interaction with the objects in the scene are triggered by collision detection. This thesis presents a collision detection algorithm for accurate simulation of a virtual flexible manufacturing cell. The technique utilizes the narrow phase approach in detecting collision detection of non-convex object by testing collision between basic primitive and polygon. This algorithm is implemented in a virtual flexible manufacturing cell for the loading and unloading process performed by the robot. The robot’s gripper is treated as non-convex object and the exact point of collision is represented with a virtual sphere and collision is tested between the virtual sphere and the polygon. To verify the collision detection algorithm, it is tested with different positions and heights of the storage system during simulation of the virtual flexible manufacturing cell. The results showed that the collision detection algorithm can be used to support the concept of hardware reconfigurablility of FMC which can be achieved by changing, removing, recombining or rearranging its manufacturing elements in order to meet new demands such as introduction of new product or change. 2008 Thesis NonPeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/5421/1/FK_2008_44.pdf Arshad, Haslina (2008) A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell. PhD thesis, Universiti Putra Malaysia. English
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
English
description Collision detection is crucial in virtual manufacturing applications such as virtual prototyping, virtual assembly and virtual robot path planning. For accurate simulation of manufacturing systems and processes in virtual environment, physical interaction with the objects in the scene are triggered by collision detection. This thesis presents a collision detection algorithm for accurate simulation of a virtual flexible manufacturing cell. The technique utilizes the narrow phase approach in detecting collision detection of non-convex object by testing collision between basic primitive and polygon. This algorithm is implemented in a virtual flexible manufacturing cell for the loading and unloading process performed by the robot. The robot’s gripper is treated as non-convex object and the exact point of collision is represented with a virtual sphere and collision is tested between the virtual sphere and the polygon. To verify the collision detection algorithm, it is tested with different positions and heights of the storage system during simulation of the virtual flexible manufacturing cell. The results showed that the collision detection algorithm can be used to support the concept of hardware reconfigurablility of FMC which can be achieved by changing, removing, recombining or rearranging its manufacturing elements in order to meet new demands such as introduction of new product or change.
format Thesis
author Arshad, Haslina
spellingShingle Arshad, Haslina
A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell
author_facet Arshad, Haslina
author_sort Arshad, Haslina
title A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell
title_short A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell
title_full A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell
title_fullStr A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell
title_full_unstemmed A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell
title_sort collision detection algorithm for virtual robot-centered flexible manufacturing cell
publishDate 2008
url http://psasir.upm.edu.my/id/eprint/5421/1/FK_2008_44.pdf
http://psasir.upm.edu.my/id/eprint/5421/
_version_ 1643823186539708416
score 13.211869

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