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

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Simplified collision detection algorithm of graphic manipulator

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

  1. 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

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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

CLC Number: 

  • TP241.2
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