Efficient collision detection and detach control for convex prisms in precision manipulation

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Article number8316881
Pages (from-to)5316-5326
Journal / PublicationIEEE Transactions on Industrial Informatics
Issue number12
Online published15 Mar 2018
Publication statusPublished - Dec 2018


This paper proposes an efficient and accurate method for collision detection between convex prisms in precision alignment and a detach controller based on the contact location for the collision occurrence. We project the objects onto an appropriate plane and detect the collision status considering the relationship between their planar contours. Efficient methods are presented for the overlap checking of several elementary contours, and the way to obtain the vertices of the projected shapes is also introduced. The detection is then accelerated by classifying into the corresponding case based on the relative configuration and using the efficient planar checking to replace the cubic calculation. A detach controller is presented to immediately separate the objects according to the contact location once collision occurs. The computational efficiency and comparison are demonstrated in simulations, and experiments are carried out to validate the detection and the controller.

Research Area(s)

  • Collision detection, convex prism, detach controller