一种多臂机器人关节间碰撞检测快速算法  

Fast algorithm for collision detection of joints of multi-arm robot

作　　者：黎自强[1] 滕弘飞[2] 

机构地区：[1]大连理工大学计算机科学与工程系 [2]大连理工大学机械工程学院,辽宁大连116024

出　　处：《大连理工大学学报》2007年第4期527-532,共6页Journal of Dalian University of Technology

基　　金：国家自然科学基金资助项目(50335040;50575031);湖南省教育厅基金资助项目(06C837)

摘　　要：多臂机器人各运动关节被简化为在圆柱体两端分别带有半球的实体(圆柱体半径与球半径相等).对2个处于任意位置的实体,通过图形变换使其中之一的圆柱体轴线和圆柱体下底面圆心分别与空间直角坐标系的z轴和原点重合,然后根据在坐标平面上2实体正投影的干涉性和空间解析几何理论得出在3-D空间的2实体不干涉的5种可能情形,并分别给出其不干涉判别条件,进而给出了机器人运动关节的碰撞检测算法.数值实验表明该方法比其他同类算法具有较快的检测速度.The joints of multi-arm robot were simplified into entities, each of which consists of a cylinder and two hemispheres jointed at two ends of cylinder respectively （radius of cylinder is equal to radius of hemisphere）. For 2 entities in arbitrary situation, graph transform was conducted. One of them was transformed into vertical state and the center of underside circle of cylinder for the entity coincides with the origin of 3-D right-angled coordinate system after graph transform. Afterwards, according to the theory of solid analytic geometry and the interferences of orthographic projections of 2 entities on coordinate plane, 5 possible cases in which two entities in 3-D space don＇t interfere with each other are found out and corresponding judgment conditions are given out. Finally, an approach is presented to detect collision between the joints. Numerical experiments show that average detection speed of the method is faster than that of previous related algorithms.

关 键 词：多臂机器人 碰撞检测 图形变换 正投影 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]