机器人仿真系统碰撞检测技术研究  

Research on Collision Detection Technology of Robot Simulation System

作　　者：廖伟东 李俊渊 黄昕 LIAO Weidong;LI Junyuan;HUANG Xin(Guangzhou Mechanical Engineering Research Institute Co.,Ltd.,Guangzhou Guangdong 510700,China)

机构地区：[1]广州机械科学研究院有限公司,广东广州510700

出　　处：《机床与液压》2021年第9期67-70,共4页Machine Tool & Hydraulics

基　　金：广东省科技计划项目(2018B030323027)。

摘　　要：为了保证人机安全,需要对机器人作业轨迹进行避碰检查。针对机器人仿真系统中的碰撞检测问题,研究一种基于八叉树结构的层级式三角形面片碰撞检测模型,以包围盒干涉检查作为粗检测,三角形面片相交检测作为精检测。为提高三角形相交检测效率,提出一种基于截距式方程的三角形干涉算法。将三维空间中的三角形映射到二维平面,避免了传统三角形相交检测中标量判别法与矢量判别法的复杂计算。最后在机器人仿真系统中验证了该碰撞检测算法的有效性。It is necessary to check the trajectory of the robot to avoid collisions in order to ensure man-machine safety.Aiming at the problem of collision detection in robot simulation system,a hierarchical triangle patch collision detection model was researched based on octree structure,the bounding box interference test was used as coarse detection,and the intersection detection of triangle patch was used as accurate detection.In order to improve the efficiency of triangle intersection detection,a triangle interference algorithm based on intercept equation was proposed.The triangles in a three-dimensional space were mapped to a two-dimensional plane,and the complicated calculation of scalar and vector discriminant in traditional triangle intersection detection was avoided.Finally,it was applied to the robot simulation system to verify the effectiveness of the collision detection algorithm.

关 键 词：碰撞检测 机器人仿真系统 八叉树结构 三角形面片 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]