双机器人协调系统中的碰撞问题研究

Research of the Collision Problem for Dual Robot Coordination System

针对多自由度双机械臂在同一工作空间协调运作时可能发生碰撞的问题,建立机器人包络简化模型,将关节简化为球体包络,连杆简化为圆柱体包络,通过对双机械臂所简化的包络模型进行干涉检查,提出空间点与点、点到线段以及异面两条线段的最短距离计算方法,将所用到的检测算法在VC++中实现,并将Staubli六轴双机器人模型应用到SolidWorks中进行仿真,实验结果验证了该算法的可行性。

Aiming at the problem that the multi-degree-of-freedom dual manipulator may collide in the same workspace,a simplified model of the robot envelope is established. The joint is simplified as a sphere envelope and the connecting rod is simplified as a cylindrical envelope. And the calculation method of the shortest distance between the points and the point to the line segment and the outermost line segments is proposed by detecting the interference between these two simplified models of the double manipulator. The detection algorithm is implemented in VC ＋＋,and the Staubli six-axis dual-robot model is applied to Solid Works for the simulation,the feasibility of this algorithm is verified by the experimental results.