Six-Degree-of-Freedom Manipulator Fast Collision Detection Algorithm Based on Sphere Bounding Box

Abstract

Collision detection technology has become a major focus in the study of problems related to robotic arms. With the increase in model scale and complexity in virtual environments, higher demands are placed on collision detection algorithms. To address the obstacle avoidance problem of six degree-of-freedom robotic arm (6-DOF) robotic arms, the spherical bounding box algorithm combined with Rapidly-Exploring Random Tree (RRT)algorithm is adopted for obstacle avoidance. A simple spherical bounding box algorithm is proposed, and obstacles are uniformly surrounded by spherical bounding boxes. The six degree-of-freedom robotic arm (6-DOF) robotic arm can quickly and accurately identify the spherical bounding box, and forward kinematics experiments of the robot arm are conducted to verify the feasibility of the algorithm.