基于层次包围盒的纱筒装取机械臂碰撞检测方法

姬晨辉,沈丹峰,赵刚,孙海涛

Collision detection method for yarn cylinder loading robotic arm based on hierarchical bounding box

Chenhui JI,Danfeng SHEN,Gang ZHAO,Haitao SUN

图2 Graham Scan算法流程

Fig.2 Graham Scan algorithm flow