Efficient Collision Detection for Industrial Robot Simulation System

As the result of an increasing number of industrial robots, the simulation of industrial robot has become a very active research field. Collision detection for industrial robot simulation system is an essential part. In this paper, we present two kinds of collision detection algorithms, namely, internal collision detection algorithm and external collision detection algorithm. These two kinds of algorithms are based mainly on the bounding volume technology. Internal collision detection algorithm isi??applicable toi??the collisions between robotic links and external collision detection algorithm isi??applicable toi??the collisions between robotic links and its surrounding obstacles. In addition, we also present two examples of simulation results. The examples prove that the collision detection module can satisfy the collision detection requirement of the industrial robot simulation system.

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