Research on Collision Detection Algorithm of Dual Manipulator

Jianchun Liu; Kun Qin; Yanfeng Lin; Zian Liu

doi:10.16578/j.issn.1004.2539.2021.01.007

您当前的位置：

首页 >

文章列表页 >

Research on Collision Detection Algorithm of Dual Manipulator

Theory·Reserach | 更新时间：2022-11-10

- Research on Collision Detection Algorithm of Dual Manipulator
- Journal of Mechanical Transmission Vol. 45, Issue 1, Pages: 40-44(2021)
- 作者机构：
  
  1.厦门理工学院机械与汽车工程学院，福建厦门 361024
  2.厦门理工学院电气工程与自动化学院，福建厦门 361024
  3.厦门航天思尔特机器人系统股份公司，福建厦门 361023
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.01.007
  CLC：
扫描看全文
刘建春,秦昆,林彦锋等.双机械臂碰撞检测算法研究[J].机械传动,2021,45(01):40-44.

Liu Jianchun,Qin Kun,Lin Yanfeng,et al.Research on Collision Detection Algorithm of Dual Manipulator[J].Journal of Mechanical Transmission,2021,45(01):40-44.
刘建春,秦昆,林彦锋等.双机械臂碰撞检测算法研究[J].机械传动,2021,45(01):40-44. DOI： 10.16578/j.issn.1004.2539.2021.01.007.

Liu Jianchun,Qin Kun,Lin Yanfeng,et al.Research on Collision Detection Algorithm of Dual Manipulator[J].Journal of Mechanical Transmission,2021,45(01):40-44. DOI： 10.16578/j.issn.1004.2539.2021.01.007.

摘要

为保障双机械臂在公共活动空间的安全性，提出了一种准确高效的碰撞检测算法。采用球体和胶囊体包围盒简化机械臂模型，根据包围盒之间的相交情况判断是否发生碰撞。通过二次投影法实现快速检测，将包围盒投影为线段，若投影线段未重叠则包围盒未相交；若投影线段有重叠，则将问题进一步转化为空间点到点、点到线段、线段到线段的最短距离求解。通过仿真软件和实体机械臂实验平台对算法进行了分析，结果说明，该算法检测效率高，可直接植入机械臂控制器程序中，满足安全性需要。

Abstract

In order to ensure the safety of dual manipulator in public space， an accurate and efficient collision detection algorithm is proposed. The sphere and capsule bounding boxes are used to simplify the manipulator model， and the collision is judged according to the intersection between the bounding boxes. The second projection method is used to achieve fast detection. The bounding box is projected into line segments. If the projection line segments are not overlapped， the bounding box will not intersect. If the projection line segments are overlapped， the problem is further transformed into the shortest distance solution from point to point， point to line and line to line. Through the analysis of the simulation software and physical manipulator experimental platform， the results show that the algorithm has high detection efficiency and can be directly implanted into the manipulator controller program， meet the safety requirements.

关键词

双机械臂碰撞检测包围盒胶囊体二次投影

Keywords

Dual manipulatorCollision detectionBounding boxCapsuleSecond projection

references

SMITH C.Dual arm manipulation-A survey［J］.Robotics and Autonomous Systems，2012，60（10）：1340-1353.

曾氢菲，刘雪梅，邱呈溶.多臂协同焊接机器人运动学逆解及误差分析［J］.焊接学报，2019，40（11）：21-27.

ZENG Qingfei，LIU Xuemei，QIU Chengrong.Inverse kinematics and error analysis of cooperative welding robot with multiple manipulators［J］.Transactions of the China Welding Institution，2019，40（11）：21-27.

LIN Y，LI Y，HUANG Y，et al.An odd-form electronic component insertion system based on dual SCARA［C］//2018 IEEE International Conference on Robotics and Biomimetics （ROBIO），Kuala Lumpur，Malaysia.New York：IEEE，2018：1514-1520.

CIEŚLAK P，SIMONI R，RODRÍGUEZ P R，et al.Practical formulation of obstacle avoidance in the Task-Priority framework for use in robotic inspection and intervention scenarios［J］.Robotics and Autonomous Systems，2020，124（C）：103396.

WANG X，YAN Y，GU X.Spot welding robot path planning using intelligent algorithm［J］.Journal of Manufacturing Processes，2019，42：1-10.

赵亮，张义德，胡旭晓.基于网格包络的工业机器人仿真碰撞检测算法［J］.中国机械工程，2017，28（3）：316-321.

ZHAO Liang，ZHANG Yide，HU Xuxiao.A novel collision detection algorithm based on grids enveloping for industrial robot simulations［J］.China Mechanical Engineering，2017，28（3）：316-321.

孙敬荣，卢新明.基于混合包围盒与三角形相交的碰撞检测优化算法［J］.计算机工程与应用，2018，54（19）：198-203.

SUN Jingrong，LU Xinming.Optimized collision detection algorithm based on hybrid bounding box and intersection of triangles［J］.Computer Engineering and Applications，2018，54（19）：198-203.

ALHASAN A J J，TANG X，SONG B.Collision detection and trajectory planning for palletizing robots based OBB［J］.Indonesian Journal of Electrical Engineering and Computer Science，2016，1（1）：109-118.

从飞，张秋菊.双机器人协调系统中的碰撞问题研究［J］.机械传动，2017，41（11）：13-16.

CONG Fei，ZHANG Qiuju.Research of the collision problem for dual robot coordination system［J］.Journal of Mechanical Transmission，2017，41（11）：13-16.

王新达，韩宝玲，陈禹含，等.一种多关节机械臂运动过程中的碰撞检测方法［J］.科学技术与工程，2019，19（14）：218-223.

WANG Xinda，HAN Baoling，CHEN Yuhan，et al.A collision detection method in the motion process of multi-joint manipulator［J］.Science Technology and Engineering，2019，19（14）：218-223.

SAFEEA M，MENDES N，NETO P.Minimum distance calculation for safe human robot interaction［J］.Procedia Manufacturing，2017，11：99-106.

GAO G，SUN G，NA J，et al.Structural parameter identification for 6 DOF industrial robots［J］.Mechanical Systems and Signal Processing，2017，113：145-155.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

⁰