Collision Detection and Optimization of Dual-Arm Mobile Robot Based on Node Tree of VRML

A large number of non-convex models exist in three-dimensional simulation environment for dual-arm mobile robots,it is impossible to realize accurate real-time collision detection.This paper proposed a method to implement convex decomposition of non-convex models based on node tree of VRML.Pass vertexes returned by convex decomposition to Quickhull algorithm to create convex polyhedron that used for V-Clip collision detection algorithm to realize accurate real-time collision detection.In order to improve the efficiency of collision detection to enhance real-time simulation,bounding box is used.The results show that this method can make real-time collision detection and has great precision.