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为解决喷涂、焊接、装配等工业现场中能快速检测出机器人与周边环境是否发生碰撞,提出一种适用于铰接模型机器人的碰撞检测算法——混合包围体层次树算法。该算法利用了不同包围体所具有的优势:由OBB包围机器人连杆时更紧凑和以OBB为基元构建球包围体时计算简化和耗时少。该算法采用由顶层、中间层和底层3层结构构成的包围体层次树技术。如果包围体层次树中父节点包围体不存在碰撞,则无须对子节点包围体进行碰撞检测,且顶层与中间层采用二叉树结构来存储数据,以此加快碰撞检测速度。而且该算法可以随着机器人实际运动时各连杆间相对位置的变化而动态更新,以此适应机器人的碰撞检测。通过开发OpenGL上位机控制软件和搭建Parker控制器等构建的机器人实体实验平台验证所提出的碰撞检测算法的有效性。
In order to solve the problem of collision between robots and the surrounding environment in spraying, welding and assembling industries, a collision detection algorithm based on hybrid model is proposed. The algorithm takes advantage of the advantages of different enclosures: Simplification and time-consuming computations are more compact when the OBB is surrounded by a robotic linkage and the OBB-based ball surround is computationally simple. The algorithm uses a bounding layer hierarchy tree consisting of a top layer, an intermediate layer and a bottom three-layer structure. If there is no collision between the parent node envelop in the enclosing hierarchical tree, the collision detection of the child node enveloping body is unnecessary, and the binary tree structure is used for storing data in the top layer and the middle layer to speed up collision detection. Moreover, the algorithm can be dynamically updated with the relative position of the links during actual movement of the robot to adapt to the collision detection of the robot. The validity of the proposed collision detection algorithm is verified by developing a robot experimental platform, which is based on OpenGL host computer software and Parker controller.