多臂机器人关节间的碰撞检测研究

将多臂机器人各运动关节简化为具有一定直径的圆柱体 ,通过计算两圆柱体中心线间最短距离来进行机器人的碰撞检测研究。在此过程中 ,首先通过总结提炼两空间线段间的相互位置关系 ,在进行解析 ,推导的基础上 ,提出了 8个有意义的解析几何推论 ,直接可得出两空间线段间的最短距离 ,然后根据得出的结果 ,设计了一个机器人运动关节间的碰撞检测算法。该算法程序设计简单 ,计算量小 ,能有效地满足实际应用需要。

An Algorithm for Collision Detection of the Joints of a Multi-Boom Robot's

The joints of a multi arm robot are simplified into cylinders with certain diameters, then the collision detection of the joints can be studied through calculating the shortest distance between the axises of the two cylinders. First, the location interrelation between two special line segments is determined. Then, we present eight significant analytic geometry′s deduction to get the shortest distance between the two special line segments. Finally, with simple computer programs and less complexity, an algorithm to detect the collision between the joints is introduced. This algorithm can satisfy the practical requirement.