工程设计学报2025，Vol.32Issue(6)：769-779,11.DOI:10.3785/j.issn.1006-754X.2025.05.136
基于层次包围盒的纱筒装取机械臂碰撞检测方法
Collision detection method for yarn cylinder loading robotic arm based on hierarchical bounding box
摘要
Abstract
Aiming at the problem that traditional yarn cylinder loading operation depends on manual operation,the industry is committed to achieving automatic grasping by robotic arms.To this end,the focus is on two key links of object enveloping and collision detection in automatic grasping of robotic arms.In order to solve the problem of insufficient envelope accuracy of the traditional hybrid hierarchical bounding box algorithm in complex scenarios,an improved hybrid hierarchical bounding box model based on convex hull structure was designed,which significantly improved the spatial fitness of the bounding box by constructing the convex hull constraints in the leaf nodes.Aiming at the problem of low computational inefficiency of the classical separating axis theorem in dealing with collision detection of complex convex polygons,a gradient descent-based separating axis optimization strategy was proposed.By establishing the functional relationship between projection length variations and separating axis rotation angle,the search direction and rotation step of separating axes were dynamically adjusted.Experimental results showed that compared with the traditional hybrid hierarchical bounding box model,the improved hybrid hierarchical bounding box model had obvious improvement in the envelope accuracy.Compared with the classical separating axis algorithm,the gradient descent separating axis algorithm reduced the average iteration time and the iteration count by 90.67%and 98.48%,respectively.The proposed method is suitable for complex working conditions in industrial scenarios where objects are densely arranged and require high-precision collision detection.关键词
层次包围盒/凸包/纱筒装取/机械臂/分离轴定理/碰撞检测Key words
hierarchical bounding box/convex hull/yarn cylinder loading/robotic arm/separating axis theorem/collision detection分类
信息技术与安全科学引用本文复制引用
姬晨辉,沈丹峰,赵刚,孙海涛..基于层次包围盒的纱筒装取机械臂碰撞检测方法[J].工程设计学报,2025,32(6):769-779,11.基金项目
国家自然科学基金资助项目(51805402) （51805402）
陕西省自然科学基金资助项目(2022JQ-397) （2022JQ-397）
