Study Based on Hybrid Bounding Volume Hierarchy for Collision Detection in the Virtual Manipulator

摘要

A collision detection algorithm based on hybrid bounding volume hierarchy was proposed using k-DOPs and sphere between complex objects. A simple algorithm to the particular structure of hydraulic servo manipulator was introduced based on the relation of line to line and line to plane to deal with real time collision detection between graphicrobot and operation task in consideration of the bounding volume hierarchy method.Validity of thisalgorithm was proved through experiments . The experimental results show that the proposed collision detection model is simple and fast in calculation,and easy for realization.it can solve on line simulation problem in remote operation for construction robot,and could be applied in simple virtual reality system.