Research on Collision Avoidance Technology of Manipulator based on AABB Hierarchical Bounding Box Algorithm

Abstract

With the acceleration of the intelligent process of domestic industry, the manipulator in the production workshop is increasingly widely used, and the collision problem of the manipulator is becoming more and more prominent. Aiming at this problem, the AABB hierarchical bounding box algorithm is designed based on the AABB bounding box algorithm. The algorithm and the commonly used bounding box algorithm are used to envelope the human 3D point cloud data model. The results show that the operation time of this algorithm is 18.11% and 25.04% shorter than that of OBB and k-DOPs algorithms, but the proportion of human body in the volume of bounding box is only reduced by 6.65% and 11.20%, and the comprehensive effects are the best. Based on the algorithm, a simulation collision avoidance detection model is built on MATLAB. The simulation results show that the algorithm can realize the collision avoidance function of the manipulator effectively. The research provides a certain reference value for optimizing the collision avoidance ability of the manipulator.