Research Of Collision Detection Applied In Industrial Robot Simulation

The industrial robot has been widely applied in manufacturing production,such as welding,assembling,spraying,etc.For the simulation system,collision detection technology is of great importance in the interference detection of the industrial robots and the work environment around them.The traditional collision detection algorithm has low efficiency when dealing with a large and complex model.In this paper,the main work was aimed at the collision detection between industrial robot and the large and complex working environment.The main work in this paper:In the first chapter,the hierarchy bounding box technology,especially the AABB hierarchies and OBB hierarchies,were analyzed.The experimental data shows that the traditional AABB hierarchies has low efficiency for industrial robot application.The researches for hierarchy bounding box technologies are necessary for the following improving method.In the second chapter,a novel algorithm that uses large number of girds to cover the model and stores the information in the grids was put forward.AABB hierarchies were modelled for the sub models in the grids,so that areas of collision were rapidly located and detected.In the simulation experiment,the novel method efficiency is dozens times more than the traditional one for the large complex model environment.In the third chapter,the kinematics of 6-axis industrial robot were analyzed.The solution to the kinematics problem is one of the cores of motion control module.By DirectX technology,the industrial robot simulation system added the collision detection function was established.