Abstract
As the result of an increasing number of industrial robots, the simulation of industrial robot has become a very active research field. Collision detection for industrial robot simulation system is an essential part. In this paper, we present two kinds of collision detection algorithms, namely, internal collision detection algorithm and external collision detection algorithm. These two kinds of algorithms are based mainly on the bounding volume technology. Internal collision detection algorithm is applicable to the collisions between robotic links and external collision detection algorithm is applicable to the collisions between robotic links and its surrounding obstacles. In addition, we also present two examples of simulation results. The examples prove that the collision detection module can satisfy the collision detection requirement of the industrial robot simulation system.
This work is supported by National Natural Science Foundation of China (Grant Nos. 51205134, 91223201), Science and Technology Program of Guangzhou (Grant No. 2014Y2-00217), Research Project of State Key Laboratory of Mechanical System and Vibration (MSV201405), the Fundamental Research Funds for the Central University (Fund No. 2015ZZ007) and Natural Science Foundation of Guangdong Province (S2013030013355).
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Wang, N., Zheng, C., Zhang, X. (2015). Efficient Collision Detection for Industrial Robot Simulation System. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R. (eds) Intelligent Robotics and Applications. Lecture Notes in Computer Science(), vol 9246. Springer, Cham. https://doi.org/10.1007/978-3-319-22873-0_49
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DOI: https://doi.org/10.1007/978-3-319-22873-0_49
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