工业机器人运动碰撞的仿真实现  

Simulation of Industrial Robot Motion Collision

作　　者：陈胜奋 谢明红[1] 

机构地区：[1]华侨大学机电及自动化学院,福建厦门361021

出　　处：《华侨大学学报（自然科学版）》2015年第2期137-141,共5页Journal of Huaqiao University(Natural Science)

基　　金：福建省科技重大专项基金资助项目(2013HZ0001)

摘　　要：在对工业机器人模型进行碰撞检测时,提出一种把AABB和OBB结合的改进包围盒法.首先,在各个杆件模型的坐标系下,利用八叉树结构建立杆件模型的改进层次包围盒;其次,把在包围盒内的模型三角面序号存放在对应叶子节点的数组里;将包围盒位姿转换到基坐标系下的位姿,利用OBB包围盒的分离轴理论进行碰撞检测;接着,利用叶子节点里的索引序号索引到对应三角面并进行精确的三角面求交;最后,生成一个应用程序并进行仿真.实验结果表明:生成的应用程序能够快速和精确地检测出模型碰撞,且运行流畅.In the collision detection of the industrial robot model,an improved octree method based on combination of AABB and OBB is put forward.Firstly,in various rod model coordinates,each improved bounding box of manipulator model by octree is built;secondly,the triangles numbers in the model box are stored in an array of corresponding leaf nodes;and the pose of bounding box is translated to the pose in the base coordinates systems,then collision detection is done using OBB separation axis theory;next,the corresponding triangle in the leaf nodes is found by index ordinal,then triangular surface precise intersection is done;finally,an application is built and simulated.The results have proven that the application can quickly and accurately detect the collision and run smoothly.

关 键 词：包围盒 分离轴 碰撞检测 叶子节点 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]