一种多关节机械臂运动过程中的碰撞检测方法  

A Collision Detection Method in the Motion Process of Multi-joint Manipulator

作　　者：王新达 韩宝玲[1] 陈禹含 郑凯林 WANG Xin-da;HAN Bao-ling;CHEN Yu-han;ZHENG Kai-lin(School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China)

机构地区：[1]北京理工大学机械与车辆学院

出　　处：《科学技术与工程》2019年第14期218-223,共6页Science Technology and Engineering

摘　　要：针对多自由度机械臂在运动过程中自身会发生碰撞的问题,建立机器人的简化模型(关节为球体,连杆为胶囊体),进而将多自由度机械臂的碰撞检测问题转化为简化后的几何模型(碰撞检测基元)之间的干涉计算问题。将此干涉问题进一步分解,最终转化为两球体之间、两胶囊体之间、球体与胶囊体之间的最小距离求解,并针对空间两胶囊体轴线之间距离计算问题,提出一种精确并快速的碰撞检测方法。将该算法实现并应用于6R串联机器人,最终利用MATLAB和ADAMS联合仿真进行验证。仿真结果验证了该算法的有效性。A simplified model of the robot( joints are spheres and connecting rods are capsules) was established for the problem that the multi-degree-of-freedom manipulator collides itself during the movement,furthermore,the collision detection problem of the multi-degree-of-freedom manipulator was transformed into an interference calculation problem between the simplified geometric model( it is called a collision detection primitive). The interference problem was further decomposed,and finally it was transformed into a minimum distance between the two spheres,between the two capsules,and between the sphere and the capsule. And an accurate and fast collision detection method was proposed to calculate the distance between the axes of two space capsules. Implementing the algorithm and applying it to a 6 R series robot,finally,the joint simulation with MATLAB and ADAMS was used for verification. The simulation result demonstrates the effectiveness of the algorithm.

关 键 词：多关节机械臂 碰撞检测 检测基元 最小距离 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]