一种优化的机器人碰撞检测算法研究

Research of Optimization for Robot Collision Detection

提出了一种基于Vclip的优化碰撞检测算法,利用Vclip算法对AABB包围盒进行底层碰撞检测计算,用GPU的遮挡查询等特性进行三角形相交测试,以提高对虚拟物体进行碰撞检测的精确性与实时性。算法已成功应用于课题组自行研制的6自由度小型工业机器人的仿真控制系统中,实验结果表明,其算法具有高效、精确、实时性高等特点,能使控制系统对工业机器人的控制更为流畅。

To improve the accuracy and response speed of collision detection in the robot simulation control systems, an optimized algorithm based on the Vclip algorithm is proposed to calculate collision detection of the Axis Aligned Bounding Box (AABB) at the bottom. The features of GPU are also used to finish the triangle intersection test. The algorithm has been successfully applied to the control system of a self-developed industrial robot with six-DOF. The experiment results show that the algorithm is effective, accurate and real-time, which makes the industrial robot perform better.