Collision detection method for robot simulation system

A technology of collision detection and simulation system, applied in the collision detection field of robot simulation system, can solve the problems of low detection accuracy and slow establishment of collision detection data structure, and achieve the effect of targeted detection

Active Publication Date: 2018-10-09
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

Method used

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  • Collision detection method for robot simulation system
  • Collision detection method for robot simulation system
  • Collision detection method for robot simulation system

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Embodiment Construction

[0056]The purpose of the invention of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the embodiments cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following embodiments.

[0057] Such as figure 1 As shown, a collision detection method for a robot simulation system includes steps:

[0058] Step 1, at first is to process simulation object, carry out triangulation processing to the geometric model comprising robot base, connecting rod and workpiece by existing 3D modeling software (such as OCCT), obtain the triangular surface data of described geometric model;

[0059] Step 2, then analyze the triangular patch data through a collision detection engine (such as a PQP collision detection library), and sequentially establish the detection data structure corresponding to each geometric model;

[0060] Step 3. Optimizing th...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 王念峰张志飞
Owner SOUTH CHINA UNIV OF TECH
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