| 关节型机器人虚拟安全空间研究 |
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| 作者单位： | 东南大学自动化学院，东南大学复杂工程系统测量与控制教育部重点实验室 |
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| 摘 要： | 为提高工业机器人安全性,分析和研究了六轴关节式机器人Denavit-Hartenberg(D-H)模型,针对关节式机器人的安全问题提出了相应的保护策略.着重介绍了笛卡尔坐标系下虚拟安全空间的设置和表示方法,并提出了改进的碰撞测试算法.该方法以AABB包围盒方法为基础分离不可能碰撞物体,利用虚拟安全空间特点提出了在AABB方法不能判别区域进行狭义测试的方法,能够满足机器人安全空间检测的精度和快速性要求.最后介绍了应用该方法的安全控制器的设计与实现.
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| 关 键 词： | 工业机器人 安全控制 碰撞检测 |
Virtual safety space for industry robot |
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| Authors: | Wang Dan Ye Hua |
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| Abstract: | After the Denavit-Hartenberg model of 6-joint robot is analyzed and discussed,strategies about safety issues of 6-joint robot are proposed.Especially,a method of setting and describing the virtual safety spaces is introduced.An improved real-time algorithm is also presented to detect collisions between virtual safety spaces and robot itself.This algorithm excludes those bounding boxes which are impossible to collide with others by AABB(axis-aligned bounding boxes) methods.Based on features of the virtual safety space,a method is put forward to solve those collision-detection problems that cannot be resolved by AABB.The accuracy and efficiency are improved by this method.The design and implementation of a safety controller with this algorithm is also introduced. |
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| Keywords: | industry robot safety control collision detection |
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