图形机械手碰撞检测简化算法

吉林大学学报(工学版) ›› 2004, Vol. ›› Issue (1): 102-106.

图形机械手碰撞检测简化算法

倪涛¹, 赵丁选¹, 黄吉东², 曾春平¹, 丁德胜¹

1. 吉林大学, 机械科学与工程学院, 吉林, 长春, 130025;
2. 北华大学, 机械工程学院, 吉林省, 吉林市, 132021

收稿日期:2003-06-23 出版日期:2004-01-01
基金资助:
"863"国家智能机器人主题资助项目(9823-01-03).

Simplified collision detection algorithm of graphic manipulator

NI Tao¹, ZHAO Ding-xuan¹, HUANG Ji-dong², ZENG Chun-ping¹, DING De-sheng¹

1. College of Mechanical Science and Engineering, Jilin University, Changchun 130025, China;
2. College of Mechanical Engineering, Beihua University, Jilin 132021, China

Received:2003-06-23 Online:2004-01-01

摘要/Abstract

摘要： 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。

关键词: 包围盒层次, 精确碰撞检测, 图形机械手

Abstract: 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.

Key words: bounding volume hierarchy, collision detection of high precision, graphic manipulator

中图分类号:

TP241.2

倪涛, 赵丁选, 黄吉东, 曾春平, 丁德胜. 图形机械手碰撞检测简化算法[J]. 吉林大学学报(工学版), 2004, (1): 102-106.

NI Tao, ZHAO Ding-xuan, HUANG Ji-dong, ZENG Chun-ping, DING De-sheng. Simplified collision detection algorithm of graphic manipulator[J]. 吉林大学学报(工学版), 2004, (1): 102-106.

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