[1]陈胜奋,谢明红.工业机器人运动碰撞的仿真实现[J].华侨大学学报(自然科学版),2015,36(2):137-141.[doi:10.11830/ISSN.1000-5013.2015.02.0137]
　CHEN Sheng-fen,XIE Ming-hong.Simulation of Industrial Robot Motion Collision[J].Journal of Huaqiao University(Natural Science),2015,36(2):137-141.[doi:10.11830/ISSN.1000-5013.2015.02.0137]
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工业机器人运动碰撞的仿真实现()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第36卷
期数:
2015年第2期
页码:
137-141
栏目:
出版日期:
2015-03-20

文章信息/Info

Title:
Simulation of Industrial Robot Motion Collision
文章编号:
1000-5013(2015)02-0137-05
作者:
陈胜奋;  谢明红
华侨大学 机电及自动化学院, 福建 厦门 361021
Author(s):
CHEN Sheng-fen;  XIE Ming-hong
College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China
关键词:
包围盒;  分离轴;  碰撞检测;  叶子节点
Keywords:
bounding box;  separation axis;  collision detection;  leaf node
分类号:
TG659
DOI:
10.11830/ISSN.1000-5013.2015.02.0137
文献标志码:
A
摘要:
在对工业机器人模型进行碰撞检测时,提出一种把AABB和OBB结合的改进包围盒法.首先,在各个杆件模型的坐标系下,利用八叉树结构建立杆件模型的改进层次包围盒;其次,把在包围盒内的模型三角面序号存放在对应叶子节点的数组里;将包围盒位姿转换到基坐标系下的位姿,利用OBB包围盒的分离轴理论进行碰撞检测;接着,利用叶子节点里的索引序号索引到对应三角面并进行精确的三角面求交;最后,生成一个应用程序并进行仿真.实验结果表明:生成的应用程序能够快速和精确地检测出模型碰撞,且运行流畅.
Abstract:
In the collision detection of the industrial robot model, an improved octree method based on combination of AABB and OBB is put forward. Firstly, in various rod model coordinates, each improved bounding box of manipulator model by octree is built; secondly, the triangles numbers in the model box are stored in an array of corresponding leaf nodes; and the pose of bounding box is translated to the pose in the base coordinates systems, then collision detection is done using OBB separation axis theory; next, the corresponding triangle in the leaf nodes is found by index ordinal, then triangular surface precise intersection is done; finally, an application is built and simulated. The results have proven that the application can quickly and accurately detect the collision and run smoothly.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2014-09-27
通信作者: 谢明红(1968-),男,研究员,博士,主要从事数控技术、CAD/CAM及计算机视觉的研究.E-mail:xmh@hqu.edu.cn.
基金项目: 福建省科技重大专项基金资助项目(2013HZ0001)
更新日期/Last Update: 2015-03-20