A study of simulation and collision detection techniques of flexible manufacturing cells

A flexible manufacturing cell (FMC) consists of a machining center, robots, transportation devices and computers. In order to enable such a complex cell to run normally, one should examine the kinematical relationship of the components of the devices in the cell, test the accuracy of positioning and working cycles, and find troubles. This paper describes ideas of simulation and collisions detection and avoidance in a flexible manufacturing cell. The techniques of modeling cell collision avoidance and task programming are discussed in the paper. >