A general robot path verfication [sic] simulation system:GRPVSS
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Collision-detection is a critical task for off-line robot path planning. A general robot path verification simulation system, GRPVSS, applicable for all industrial robots with open-looped links, is created to verify the intended robot path. The manipulator and obstacles are modeled by convex polyhedra to reduce the computation burden required by the collision detection algorithm. As a kinematic simulator, GRPVSS employs motion-time profiles or ideal trapezoid profiles which describe the position-vs-time relation of an individual joint, to generate the robot working trajectory. This approach makes the to-be-verified working path closer to the real one. Both point-to-point(PTP) and continuous path(CP) operations can be simulated by GRPVSS.
Collision detection is conducted by performing geometric interference detection between the static configurations of the expanded moving robot and the static obstacles at each simulation step. Inn this case, the resolution of a simulation is critical to path verification. Simulations with low resolution take the risk of undetected collisions, while simulations with high resolution consume too much computing time. GRPVSS computes and employs the lowest resolution level that yields 100% path verification for the specified tolerances of manipulator dimensions. The tolerance value is specified by the user but should not be specified smaller than the positioning accuracy of the simulated industrial robot. The links of the manipulator are expanded by the amount of tolerance.
GRPVSS is a graphic simulator. A systematic control supervisor is constructed for the simulator to request input and to proceed all functions interactively with users. The robot motion of a simulated path is animated on a 3-D graphical screen. A11 collision configurations and related information of the simulated path are stored in a file and shown on the screen. The graphical display works on graPHIGS, one of the 3-D graphical software packages published by IBM.
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