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10 不同分离轴上的凸多边形投影重合长度

Fig.10 Overlapping length of convex polygon projections on different separating axes