Collision detection method for robot simulation system

Abstract

The invention discloses a collision detection method for a robot simulation system. The collision detection method comprises a first step of processing a simulation object, carrying out triangular subdivision processing on a geometric model including a robot base through existing three-dimensional modeling software, obtaining the triangular surface piece data of the geometric model; a second stepof analyzing the triangular surface piece data through a collision detection engine, and sequentially establishing a detection data structure corresponding to each geometric model; a third step of optimizing the detection data structures, and selecting the required models and adding the models into a detection list in a pairing mode; a fourth step of calculating the minimum distance between the geometric models by utilizing the detection data structures in the detection list, and judging whether the model is collided or not according to whether the minimum distance is zero or not. The geometric model is processed by using existing three-dimensional modeling software, so that the method is not limited to a certain geometrical model format, and the application range is wider. Due to the factthat an existing collision detection engine is used, and optimization is carried out, the detection of the model pairing is more targeted, more efficient and more precise.

Description

technical field [0001] The invention relates to the technical fields of computer graphics and robot engineering, in particular to a collision detection method for a robot simulation system. Background technique [0002] In the industrial robot simulation system, collision detection is a basic and very important functional module. It can detect collisions in the motion simulation process in advance and give warning prompts. Robot operators can modify the robot program in time according to these prompts, improve the reliability and efficiency of robot programming, and avoid damage to actual equipment. In the process of robot motion simulation, there will be many models moving at every moment. To ensure the real-time performance of collision detection, the detection speed is very critical. [0003] "Research on Collision Detection for Industrial Robot Simulation Application" by Zhang Yide et al.: Using a grid coverage algorithm, the model is granulated into a large number of...

AI Technical Summary

Problems solved by technology

[0006] (1) Limited by the geometric model format;

[0007] (2) The establishment speed of the collision detection data structure is relatively slow;

[0008] (3) The detection accuracy is low

Images