Расчет областей пересечения поверхностей захватных устройств манипуляторов и деформируемых объектов при планировании и моделировании захвата

17 / 18

Расчет областей пересечения поверхностей захватных устройств манипуляторов…
ISSN 0236-3933. Вестник МГТУ им. Н.Э. Баумана. Сер. Приборостроение. 2016. № 6 113
the intersection regions comprising both broad and narrow
phases. The broad phase algorithm is based on the boun-
ding box method and is improved by introducing the origi-
nal algorithm for detecting areas of potential interaction
between the gripper and the object. The narrow phase
algorithm is novel. It uses the nearest neighbor search
methods and considers the movement direction of inter-
acting bodies. As a result of our research, we developed a
computer program and carried out experiments to analyze
the efficiency of the proposed algorithms for the grasp
planning with the 3-finger robotic hand Schunk SDH
REFERENCES
[1] Leskov A.G., Illarionov V.V., Kalevatykh I.A., Moroshkin S.D., Bazhinova K.V., Feok-
tistova E.V. Hardware-software complex for solving the task of automatic capture of the object
with manipulators. Inzhenernyy zhurnal: nauka i innovatsii [Engineering Journal: Science and
Innovation], 2015, iss. 1 (in Russ.). DOI: 10.18698/2308-6033-2015-1-1361
Available at:
[2] Boivin E., Sharf I., Doyon M. Optimum grasp of planar and revolute objects with gripper
geometry constraints. Proc. ICRA 2004, 2004, pp. 326–332.
DOI: 10.1109/ROBOT.2004.1307171
[3] Pauly M., Pai D.K., Guibas L.J. Quasi-rigid objects in contact. Proc. 2004 ACM
SIGGRAPH/Eurographics symposium on Computer animation, 2004, pp. 109–119.
[4] Ericson C. Real-time collision detection. San Francisco, Elsevier, 2005. 593 p.
[5] Gilbert E.G., Johnson D.W., Keerthi S.S. A fast procedure for computing the distance
between complex objects in three-dimensional space. IEEE Journal of Robotics and Automa-
tion, 1988, vol. 4, no. 2, pp. 193–203. DOI: 10.1109/56.2083
[6] Lin M.C. Efficient collision detection for animation and robotics. PhD dissertation. Uni-
versity of California, Berkeley, CA, USA, 1993. 159 p.
[7] Mirtich B. V-Clip: fast and robust polyhedral collision detection. Journal ACM Transac-
tions on Graphics, 1998, vol. 17, no. 3, pp. 177–208.
[8] Bullet Physics Library. Available at: (accessed 25.12.2015)
[9] Open Dynamics Engine. Available at: (accessed 25.12.2015)
[10] Preparata F.P., Shamos M.I. Computational geometry: an introduction. New York,
Spinger-Verlag. 412 p. (Russ. ed.: Vychislitelnaya geometriya. Moscow, Mir Publ., 1989.
478 p.)
[11] Panigrahy R. An improved algorithm finding nearest neighbor using Kd-trees. Proc. 8th
Latin American Symposium, Búzios, Brazil, 2008, vol. 26, no. 4, pp. 387–398.
[12] Maneewongvatana S., Mount D.M. An empirical study of a new approach to nearest
neighbor searching. Proc. third international workshop on algorithm engineering and experi-
mentation, Washington, DC, USA, 2001, pp. 172–187.
[13] Yianilos P.N. Data structures and algorithms for nearest neighbor search in general met-
ric spaces. Proc. fourth annual ACM-SIAM Symposium on Discrete algorithms, Austin, TX,
USA, 1993, pp. 311–321.