一种基于包围盒技术的机械臂碰撞检测算法

作者：金F,叶明,刘洪广 日期：2008-11-03/span> 浏览：3063 查看PDF文档

一种基于包围盒技术的机械臂碰撞检测算法

金F,叶明,刘洪广
(杭州电子科技大学 智能控制与机器人研究所,浙江 杭州 310018)

摘要：为满足机械臂碰撞事件检测的速度和精度要求，结合遥操作临场感系统自身特点，提出了一种简化的包围盒碰撞检测算法。该包围盒技术摈弃以往采用单一层次包围盒的方法，综合运用了空间分解技术、降维技术、包围球技术和AABB包围盒技术，将整个虚拟场景的碰撞检测工作分解为几个复杂度不同的部分，并在各个部分中采用不同的包围盒算法。研究结果表明，这种根据检测对象的特点采用不同检测手段的方法避免了部分冗余的检测工作，提高了碰撞检测的效率。
关键词：碰撞检测；包围盒；机械臂
中图分类号：TP391.9文献标识码：A文章编号：1001-4551(2008)10-0063-04

Manipulator collision detection algorithm based on bounding box
JIN Min, YE Ming, LIU Hongguang
(Institute of Intelligence Control and Robots, Hangzhou Dianzi University, Hangzhou 310018, China)
Abstract: Aiming at satisfying the velocity and accuracy requirement of manipulator collision detection, combining with the characteristics of tele-operation telepresence system, a simplified bounding box algorithm was put forward. This algorithm did not use single hierarchical bounding box, but synthetically used decomposition space technology, reduced-dimension technology, surrounded seeking technology and AABB bounding box technology that made complex collision detection process decomposed into several parts of different complexity, in different parts used different bounding box algorithms. The experimental results show that the method of using different detection strategy according to the characteristics of the object avoids some redundancy detection, improves the detection efficiency.
Key words: collision detection; bounding box; manipulator
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