Research On Collision Detection Technology For Robot Production Line Simulation

At present,the robot production line 3D simulation and collision detection technology have become the current research hotspot.In this paper,the problem of robot-related collision detection in three-dimensional simulation scene of robot production line is studied.Based on the characteristics of 3D simulation scene of robot production line,a collision detection algorithm based on spatial segmentation and mixed-level bounding box is proposed.Tree space segmentation,quickly determine the intersection of subspaces may be,the same subspace of the object and then based on mixed-level bounding box accurate collision detection.The main research contents are as follows:(1)The data structure of the octree is improved,and the implicit association of the octree leaves node is realized by fixed coding,which not only solves the problem that the octree is inefficient in the narrow space,but also realizes the constant time complexity The octree insertion,updating and traversing operations;(2)The accurate collision detection algorithm based on the mixed-level bounding box is adopted,and the joint characteristics of the industrial robot are taken into account,and the fast positioning of the bounding box in the octree is realized.According to the simulation scene of the robot production line,the construction process of the hidden bounding box tree is analyzed in detail.(3)According to the simulation scene of the robot production line,the collision detection algorithm proposed in this paper is optimized,traversal optimization and storage structure optimization,and improve the efficiency of the collision detection algorithm.Finally,the collision detection algorithm is implemented in the 3D simulation scene of the OSG-based robot production line.The algorithm is verified by experiments.The experiment proves that the algorithm can guarantee the real-time and accuracy in the 3D simulation scene of the robot production line.