Real-time collision detection for manipulators based on fuzzy synthetic evaluation

摘要

To overcome the shortcoming that the collision detection method based on three-dimension model only depends on the shortest distance between components to determine collision, a novel collision detection method for manipulators is proposed to indicate how dangerous the current movement of the robot are to the surrounding objects. The method more comprehensively considers the effect of the shortest distance, motion state, braking performance of joints, robot control mode and the contact state on robot collision risk, obtains a robot collision risk index by using the fuzzy synthetic evaluation. At the same time, building the collision detection model by using sphere sweeping convex hulls (SSCH) improves the real-time of the collision detection. Finally, the proposed method is validated through simulations and experiments.