机械臂与障碍物的双层次碰撞检测算法仿真  

Simulation of Double Level Collision Detection Algorithm Between Manipulator and Obstacle

作　　者：高嘉材 李丽宏 原钢 GAO Jia-cai;LI Li-hong;YUAN Gang(College of Electrical and Power Engineering,Taiyuan University of Technology,Taiyuan Shanxi 030000,China;China Coal Technology and Engineering Group,Taiyuan Research Institute,Taiyuan Shanxi 030000,China)

机构地区：[1]太原理工大学电气与动力工程学院,山西太原030000 [2]中国煤炭科工集团太原研究院,山西太原030000

出　　处：《计算机仿真》2022年第6期453-458,共6页Computer Simulation

基　　金：山西省自然科学基金资助项目(201801D121189)。

摘　　要：针对传统碰撞检测算法检测效率低的问题,提出了一种在机械臂关节空间下判断规划轨迹与空间障碍物碰撞情况的双层次检测算法。初次判断过程采用自适应动态碰撞检测算法,对规划轨迹与障碍物球体模型进行快速判断,筛选出可能发生碰撞的轨迹点范围;二次判断过程采用分离轴判断法检测可疑轨迹点与障碍物OBB模型的碰撞情况,得到最终的判断结果。研究对象选用以UR5为原型的协作机械臂,在matlab环境中编写仿真程序,实验结果表明,上述算法比自适应动态碰撞检测算法的结果更准确,比几何体模型法的检测速度快,更适用于机械臂控制系统。Aiming at the low detection efficiency of traditional collision detection algorithms, a two-level detection algorithm is proposed to judge the collision between the planned trajectory of manipulator and space obstacles in the joint space of manipulator. In the first judgment process, the adaptive dynamic collision detection algorithm was used to quickly judge the planned trajectory and the obstacle sphere model to screen out the range of possible collision points;in the second judgment process, the separation axis judgment method was used to detect the collision between the suspicious track points and the OBB model of the obstacle, and the final judgment result was obtained. The cooperative manipulator based on UR5 was selected as the research object, and the simulation program was written in Matlab. The experimental results show that the algorithm is more accurate than the adaptive dynamic collision detection algorithm, faster than the geometric model method, and more suitable for manipulator control system.

关 键 词：机械臂关节空间 双层次碰撞检测 自适应动态碰撞检测 几何体模型法 分离轴判断法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]