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12 纱筒架

Fig.12 Yarn cylinder holder