High-precision mechanical arm collision detecting method based on bounding box algorithm

Abstract

The invention discloses a high-precision mechanical arm collision detecting method based on a bounding box algorithm. The method includes the steps of performing collision testing on a mechanical arm,performing modeling and model simplifying on the mechanical arm and workpieces when no mutual contact exists, performing intersection testing according to obtained bounding boxes of the mechanical arm and the workpieces, obtaining two intersection points formed by the intersection of the bounding boxes of the mechanical arm and the workpieces and a rectangular overlapping area formed by the intersection points when the bounding boxes intersect, connecting the intersection points in the rectangular overlapping area, calculating a line segment solution, performing workpiece recognizing and determining the rotation ray according to an obtained reference edge when the line segment solution is invalid, judging whether the rotation ray makes contact with the line segment solution or not on thebasis of geometrical shapes of the different workpieces, and performing combining and iterating of the rotation ray to obtain a multi-hyperplane solution. The separation of the intersecting bounding boxes of the mechanical arm and the workpieces is completed, detection precision is improved, and detection errors are reduced.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a high-precision manipulator collision detection method based on a bounding box algorithm. Background technique [0002] During the movement of the industrial manipulator, in order to ensure the safety of the workpiece and the manipulator itself during the movement, avoiding collisions is a necessary condition, otherwise it will easily cause damage to the manipulator and scratches on the surface of the work piece, and may pose a threat to the safety of the staff. Therefore, collision detection is an important content of robot arm in obstacle avoidance motion planning. [0003] The essence of the collision detection problem is to find the shortest distance between objects. When the distance is less than or equal to zero, the objects are considered to be in contact or collide. Therefore, it is necessary to calculate the distance of objects in space. In most cases, the shap...

AI Technical Summary

Problems solved by technology

Although the outline of the object is simplified by using the bounding box, the detection accuracy cannot be guaranteed

The current bounding box collision detection technology has low detection accuracy, especially when there is a large error in the detection between irregularly shaped objects.

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