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9 分离轴定理示意图

Fig.9 Schematic of separating axis theorem