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

Arshad, Haslina (2008) A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell. PhD thesis, Universiti Putra Malaysia.

[img] PDF
254Kb

Abstract

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.

Item Type:Thesis (PhD)
Subject:Collisions
Subject:Manufacturing processes
Chairman Supervisor:Professor Abdel Magid Hamouda, PhD
Call Number:FK 2008 44
Faculty or Institute:Faculty of Engineering
ID Code:5421
Deposited By: Nurul Hayatie Hashim
Deposited On:09 Apr 2010 04:20
Last Modified:27 May 2013 07:22

Repository Staff Only: item control page

Document Download Statistics

This item has been downloaded for since 09 Apr 2010 04:20.

View statistics for "A Collision Detection Algorithm For Virtual Robot-Centered Flexible Manufacturing Cell "


Universiti Putra Malaysia Institutional Repository

Universiti Putra Malaysia Institutional Repository is an on-line digital archive that serves as a central collection and storage of scientific information and research at the Universiti Putra Malaysia.

Currently, the collections deposited in the IR consists of Master and PhD theses, Master and PhD Project Report, Journal Articles, Journal Bulletins, Conference Papers, UPM News, Newspaper Cuttings, Patents and Inaugural Lectures.

As the policy of the university does not permit users to view thesis in full text, access is only given to the first 24 pages only.