An Efficient Collision Detection Algorithm for the Dual-Robot Coordination System

摘要

Collision detection is very significant for the dual-robot coordination system. To detect the collisions occurred in the system efficiently, an accurate and efficient collision detection algorithm is proposed in this paper. The algorithm has two components: one is the modeling method for building the collision detection model, and the other one is the overlap test algorithm for the collision detection model. According to the modeling method, the 6-DOF robot manipulator is modeled as a bounding volume hierarchical tree with three levels and the dual-robot coordination system is modeled as a hierarchical tree based on the robot manipulator's hierarchical tree. Then an overlap test algorithm for the hierarchical tree is proposed. Finally, the validity of the collision detection algorithm is verified by simulation in VREP.