基于AABB包围盒的双机械臂避碰技术的研究  

作　　者：干智峰 

机构地区：[1]中国电子科技集团公司第二十研究所,西安710000

出　　处：《科技视界》2020年第17期95-98,共4页Science & Technology Vision

摘　　要：机械臂避碰技术能够保证机械臂在工作过程中的安全,对于增强机械臂在整个应用领域中的安全性具有重要意义.本文基于双机械臂的D-H模型和AABB包围盒技术提出了双机械臂避碰方法.并通过MATLAB和Adams联合仿真对双机械臂避碰方法进行了验证.仿真结果显示,该方法实现了双机械臂之间的碰撞检测,能够防止机械臂在运动过程中发生碰撞.The collision avoidance technology of the manipulator is effective enough to ensure the safety of the manipulator in the working process,which is of great significance to enhance the safety of the manipulator in the whole application field.Based on the D-H model of double manipulator and AABB bounding box technology,this paper presents a collision avoidance method of double manipulator.The collision avoidance method of double manipulator is verified by the joint simulation of MATLAB and Adams.The simulation results show that the collision detection between the two manipulators is fully realized by this method,which can prevent the collision of the two manipulators in the process of movement.

关 键 词：机械臂 D-H模型 AABB包围盒 MATLABAdams 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]