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A Collision Detection Method for Robot Simulation System

A technology of collision detection and simulation system, which is applied in the field of collision detection of robot simulation systems, can solve problems such as low detection accuracy and slow establishment of collision detection data structures, and achieve wide application range, strong customizability, and targeted detection Effect

Active Publication Date: 2021-06-08
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • A Collision Detection Method for Robot Simulation System
  • A Collision Detection Method for Robot Simulation System
  • A 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] like 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 the d...

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Abstract

The invention discloses a collision detection method for a robot simulation system, comprising steps: step 1, processing a simulation object, and performing triangulation processing on a geometric model including a robot base through an existing three-dimensional modeling software to obtain a geometric model The triangle patch data; step 2, analyze the triangle patch data through the collision detection engine, and establish the detection data structure corresponding to each geometric model in turn; step 3, optimize the detection data structure, select the model pairing that meets the needs and add it to the detection list Middle; step 4, using the detection data structure in the detection list to calculate the minimum distance between geometric models, and judging whether the models collide according to whether the minimum distance is 0. Because the present invention uses the existing three-dimensional modeling software to process the geometric model, it is not limited to a certain geometric model format and has a wider application range. Because the existing collision detection engine is used and optimized, the detection of model pairing is more targeted Higher efficiency, higher precision.

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 Patents(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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