装配机器人系统快速碰撞检测算法

提出一种面向操作手装配系统的快速碰撞检测算法。该算法以机器人运动学和空间解析几何为基础 ,将判断机械手手臂与障碍物是否发生碰撞问题转化为直线段与有界平面是否存在公共点的简单解析几何问题 ,并以 PU MA5 6 0操作手为例对算法加以说明。该算法不仅适用于静态的障碍物已知的环境 ,而且适用于障碍物运动规律已知的动态环境 ,减少了碰撞检测占用的时间 ,提高了路径规划的效率

A new rapid collision detection algorithm for assembly system is presented, which is based on robot kinematics and space analytic geometry. The algorithm converted the problem of judging collision between the manipulator′s arm and the obstacles into a space analytic geometry problem, i.e. the existence of the intersection between each line segment and the bounded plane of polyhedron. A real-scale articulated robot, PUMA 560, is used to expound the algorithm. It can be applied to the environment not only with the static obstacle but also with the moving obstacle. It decreases time spent on collision detection during robot path planning and inscreases the efficiency of path planning.

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