A Real-time Robot Arm Collision Detection Algorithm
Bian Zhi, Zhao Lian-yu, Zhenzhong Liu · International Conference on Mechanic Automation and Control Engineering · 2012
Collision detection is a important issue in the field of industrial robot path planning and virtual reality. In this paper the author on the basis of existing research, put forward a real-time collision detection algorithm for industrial robot arm. The collision detection algorithm overcomes some drawbacks in the past algorithms such as use a single technical. This algorithm integrated use of the existing collision detection technique. All the collision detection is divided into several different parts. Use different collision detection techniques according to the characteristics of each part. The results show that this algorithm can effectively shorten the collision detection time, improve accuracy and efficiency of collision detection.