Research And Application Of Collision Detection Technology Based On Hybrid Bounding Box In Virtual Simulation Of Industrial Robot

Virtual reality is a virtual environment technology,which is highly similar to the real world by computers,hardware devices,and mechanical feedback devices.Collision detection is a key issue in the field of virtual reality,with the rapid development of robot virtual simulation technology,the efficiency and accuracy requirements of collision detection algorithm in virtual environment are improved,however a single bounding box collision detection algorithm in large-scale virtual environment is usually due to lack of accuracy,low efficiency resulting in penetration or delay phenomenon,can not detect the collision in real time,seriously affect the authenticity of the simulation environment.In this paper,Unity3 D engine as a development platform,combined with 3D modeling software developed a virtual simulation scene of industrial robots,researched a variety of complex situations in which robots may collide during motion simulation.Targeted at the question of the accuracy and efficiency of the existing single bounding box collision detection algorithm,in this paper an efficient hybrid hierarchical bounding box collision detection algorithm is proposed,and complete the detailed design of each step in the algorithm implementation process.Next,the virtual teaching simulation experiment is carried out in the virtual environment that verified the advantages of collision detection algorithm proposed in this paper.Specifically,the main works of this paper are as follows:First of all,through SolidWorks,3ds Max modeling software to complete the modeling of equipment and environment in industrial robot virtual simulation scene and use Unity3 D engine to build a virtual simulation environment.Next,this paper proposed a robot space arc trajectory interpolation algorithm for robot trajectory planning in virtual environment.Using arc space to establish a new coordinate system and calculate the interpolation points on the arc,and then converted to the original coordinate system,and finally mapped to the joints in the joint space to achieve space arc trajectory interpolation,which laid the foundation for the complex motion simulation of the robot.Secondly,this paper analyzed the hierarchical bounding box technology,for single hierarchical bounding box collision detection exists the penetration,missed detection and precision,efficiency can not meet the requirements.So a hybrid hierarchical bounding box collision detection algorithm based on AABB and OBB is proposed.By using the top-down method to construct the mixed-level bounding box tree of the objects,and AABB is used in the rough detection stage,the OBB is used in the precision detection stage.In order to solve the problem of low efficiency of traditional triangular test in the element intersecting test stage,a triangular patch intersection test algorithm based on the combination of spatial projection and ray tracing is proposed to optimize the detection speed.Next,the traversal optimization of the hybrid hierarchical bounding box tree is realized by the accelerated traversal method based on spatio-temporal correlation,which satisfies the requirements of detection in time complexity.Finally,after the model collision test,the algorithm researched in this paper has improved the single AABB bounding box algorithm in terms of efficiency,accuracy and stability.Finally,in the virtual simulation environment of industrial robot developed in this paper,which realized the collision detection of a variety of complex situations that may occur during the movement of the robot.Next,in the virtual environment,the robot teaching programming simulation is realized,and the teaching points of motion trajectory is obtained through the virtual teaching method and completed the simulation experiment with the collision detection of the complex situations realized during the whole process.At last,the physical effects of welding in the robot simulation experiment are simulated by combining the collision detection technology and the particle system of the Unity3 D.That is further verified the collision detection algorithm researched in this paper has good accuracy,real-time and stability,and can meet the requirement of collision detection in some complex virtual scenes.