图形机械手碰撞检测简化算法

参考较为成形的基于包围盒层次的碰撞检测算法,针对本系统液压伺服机械手的特有结构,采用一种简单易行的线面关系、面面关系算法来实时处理图形机器人与待操作对象的精确碰撞检测,最后通过实验验证了该算法的有效性。结果表明:所提出的碰撞检测模型具有计算量小,速度快以及易于编程实现等优点。解决了遥操作工程机械手的在线实时仿真问题,可以较好地应用于简单的虚拟现实系统。

Simplified collision detection algorithm of graphic manipulator

A simple algorithm to the particular structure of hydraulic servo manipulator was introduced based on the relation of line to line and line to plane to deal with real time collision detection between graphic robot and operation task in consideration of the bounding volume hierarchy method.Validity of this algorithm was proved through experiments.The experimental results show that the proposed collision detection model is simple and fast in calculation,and easy for realization.It can solve on line simulation problem in remote operation for construction robot,and could be applied in simple virtual reality system.