空间机械臂运动过程中的碰撞检测方法

Collision Detection Methods of a Space Manipulator in Motion

摘要:

针对一种六关节机械臂,导出了各关节和末端的坐标,对可能与舱体碰撞的机械臂的几个连杆,将其上面的各点表示成两端关节坐标的函数,并由此给出了该点与舱体碰撞的检查方法;该方法不仅能检查机械臂关节与舱体的碰撞,而且能够检查机械臂连杆上任何位置与舱体的碰撞;对可能发生相互碰撞的机械臂的每对连杆,将其上面的各点表示成两端关节坐标的函数,并由此给出了每对连杆相互碰撞的检查方法;该方法不仅能检查机械臂两连杆两端关节的相互碰撞,而且能够检查机械臂两连杆上任何位置之间的相互碰撞;仿真结果证实了两种碰撞检查方法可行性和有效性。

Abstract:

For the 6R Manipulator,the coordinates of its joins and end-effector are given in this paper. Each point on its links,which may collide with the space capsule,is expressed as a function of the coordinates at the link’s two extreme points,and a detection method of the collision of the point with space capsule is put forward. Not only can this method detect the collision between joints and space capsule,but it can detect the collision between any point on a link and space capsule. The point from each of a pair of links which may cause mutual collision is expressed as a function of the coordinates at the link’s two extreme points,and a detection method of the collision of the pair of links is put forward. Not only can this method detect the collision between two joints from two different links,but it can detect the collision between any two points on two different links. Simulation results validate the feasibility and validity of above two collision detection methods.