3 research outputs found
Formalization of Robot Collision Detection Method based on Conformal Geometric Algebra
Cooperative robots can significantly assist people in their productive
activities, improving the quality of their works. Collision detection is vital
to ensure the safe and stable operation of cooperative robots in productive
activities. As an advanced geometric language, conformal geometric algebra can
simplify the construction of the robot collision model and the calculation of
collision distance. Compared with the formal method based on conformal
geometric algebra, the traditional method may have some defects which are
difficult to find in the modelling and calculation. We use the formal method
based on conformal geometric algebra to study the collision detection problem
of cooperative robots. This paper builds formal models of geometric primitives
and the robot body based on the conformal geometric algebra library in HOL
Light. We analyse the shortest distance between geometric primitives and prove
their collision determination conditions. Based on the above contents, we
construct a formal verification framework for the robot collision detection
method. By the end of this paper, we apply the proposed framework to collision
detection between two single-arm industrial cooperative robots. The flexibility
and reliability of the proposed framework are verified by constructing a
general collision model and a special collision model for two single-arm
industrial cooperative robots
Automated Deduction – CADE 28
This open access book constitutes the proceeding of the 28th International Conference on Automated Deduction, CADE 28, held virtually in July 2021. The 29 full papers and 7 system descriptions presented together with 2 invited papers were carefully reviewed and selected from 76 submissions. CADE is the major forum for the presentation of research in all aspects of automated deduction, including foundations, applications, implementations, and practical experience. The papers are organized in the following topics: Logical foundations; theory and principles; implementation and application; ATP and AI; and system descriptions