双机器人协调系统的碰撞检测问题研究

针对双机器人系统松协调状态下的运动，研究了其在公共空间中的碰撞检测问题．在已知两机器人运动路径的前提下，利用简单几何模型对机器人进行建模，通过求解模型间的Euclidean长度来表示任意时刻两机器人间的距离，并利用Lagrangc：乘子和Kuhn-Tucker条件优化求解最短距离来实现对碰撞的检测，通过引入位置参数，可以将三维的碰撞空间转化为二维的碰撞区域，并在双MOTOMAN UP6机器人系统中对该问题进行了仿真试验，为进一步开展双机器人系统无碰撞轨迹规划问题的研究打下基础。

Research on collision detection for two-robot coordinated system

Aiming at the motion of a two-robot system under loose coordination, collision detection in common space was studied.On the basis of a specified robot's moving path,simple geometric models of robots were built. The distance between robots was expressed with the Euclidean length between different models, and the collision detection was completed by achieving the shortest distance between models using the Lagrangian multiplier and Kuhn-Tucker. The collision space in 3D could be transformed into the collision region in 2D by introducing the position parameter, and the simulation was finished in the coordinated system consisting of two MOTOMAN UP6 robots.Findings are helpful for future research on collision-free trajectory planning.