Collision detection of local-scale RMT based on AGA

To study the movements between two modules of the local-scale reconfigurable machine tool (RMT) and to finally detect the possible collision, topological structures were first analyzed according to the characteristics of local-scale RMT that some modules will be replaced or upgraded. With the collision detecting topological structures, collision was detected between each two modules that were expressed as convex hulls created by vertex. Genetic algorithm (GA) was applied to calculate the collision between two convex hulls and adaptive genetic algorithm (AGA) was used to optimize the calculation speed.