双机器人系统的碰撞检测算法

针对共享工作空间的双机器人系统，提出一种双机器人碰撞检测方法和机器人简化的几何模型.首先将机器人的关节和连杆分别用球体和胶囊体（由一圆柱体与两个在两端的半球体组成的复合几何体）两种几何基元表示，机器人之间的碰撞检测转化为几何基元之间的干涉检查，即转换为几何基元间的距离计算；针对胶囊体之间的距离计算，提出一种空间线段间的距离计算方法.将碰撞检测算法应用于KUKA双机器人实例中，并在UG平台进行仿真，仿真结果验证了该算法的有效性.

Detection collision algorithm for two-manipulator system

In order to detect the collision between two manipulators in a shared workplace, a detection collision algorithm between two manipulators and a geometrical model of manipulator were proposed. The joints and links were represented by spheres and capsules (composed by a cylinder and two hemispheres in the ends of the cylinder), respectively. The calculating of the detection collision between two manipulators was turned into the calculating the distance between geometric elements. In order to calculate the distance between two capsules, a method of computing the distance between two line segments was proposed. The detection collision algorithm was simulated by a KUKA two-manipulator system, and the effectiveness of the presented detection collision method was confirmed through the verification of the detection collision between two KUKA manipulators in UG software.