Research on Collision Detection Algorithm of Dual Manipulator
In order to ensure the safety of dual manipulator in public space， an accurate and efficient collision detection algorithm is proposed. The sphere and capsule bounding boxes are used to simplify the manipulator model， and the collision is judged according to the intersection between the bounding box...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.01.007 |
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| _version_ | 1841547190102654976 |
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| author | Jianchun Liu Kun Qin Yanfeng Lin Zian Liu |
| author_facet | Jianchun Liu Kun Qin Yanfeng Lin Zian Liu |
| author_sort | Jianchun Liu |
| collection | DOAJ |
| description | In order to ensure the safety of dual manipulator in public space， an accurate and efficient collision detection algorithm is proposed. The sphere and capsule bounding boxes are used to simplify the manipulator model， and the collision is judged according to the intersection between the bounding boxes. The second projection method is used to achieve fast detection. The bounding box is projected into line segments. If the projection line segments are not overlapped， the bounding box will not intersect. If the projection line segments are overlapped， the problem is further transformed into the shortest distance solution from point to point， point to line and line to line. Through the analysis of the simulation software and physical manipulator experimental platform， the results show that the algorithm has high detection efficiency and can be directly implanted into the manipulator controller program， meet the safety requirements. |
| format | Article |
| id | doaj-art-0cbaf201d95b4420a707037882471e5f |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-0cbaf201d95b4420a707037882471e5f2025-01-10T14:54:34ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-01-0145404429799273Research on Collision Detection Algorithm of Dual ManipulatorJianchun LiuKun QinYanfeng LinZian LiuIn order to ensure the safety of dual manipulator in public space， an accurate and efficient collision detection algorithm is proposed. The sphere and capsule bounding boxes are used to simplify the manipulator model， and the collision is judged according to the intersection between the bounding boxes. The second projection method is used to achieve fast detection. The bounding box is projected into line segments. If the projection line segments are not overlapped， the bounding box will not intersect. If the projection line segments are overlapped， the problem is further transformed into the shortest distance solution from point to point， point to line and line to line. Through the analysis of the simulation software and physical manipulator experimental platform， the results show that the algorithm has high detection efficiency and can be directly implanted into the manipulator controller program， meet the safety requirements.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.01.007Dual manipulatorCollision detectionBounding boxCapsuleSecond projection |
| spellingShingle | Jianchun Liu Kun Qin Yanfeng Lin Zian Liu Research on Collision Detection Algorithm of Dual Manipulator Jixie chuandong Dual manipulator Collision detection Bounding box Capsule Second projection |
| title | Research on Collision Detection Algorithm of Dual Manipulator |
| title_full | Research on Collision Detection Algorithm of Dual Manipulator |
| title_fullStr | Research on Collision Detection Algorithm of Dual Manipulator |
| title_full_unstemmed | Research on Collision Detection Algorithm of Dual Manipulator |
| title_short | Research on Collision Detection Algorithm of Dual Manipulator |
| title_sort | research on collision detection algorithm of dual manipulator |
| topic | Dual manipulator Collision detection Bounding box Capsule Second projection |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.01.007 |
| work_keys_str_mv | AT jianchunliu researchoncollisiondetectionalgorithmofdualmanipulator AT kunqin researchoncollisiondetectionalgorithmofdualmanipulator AT yanfenglin researchoncollisiondetectionalgorithmofdualmanipulator AT zianliu researchoncollisiondetectionalgorithmofdualmanipulator |