Industrial robots play an important role in automated production,but they are prone to collisions during operation,resulting in damage or safety hazards.To address these issues,a hybrid collision detection algorithm is de-signed by studying the fusion of axis aligned bounding boxes and directed bounding boxes.Based on this,the artifi-cial potential field algorithm is integrated into the Fast Random Tree-Join Algorithm to design a path planning op-timization algorithm.The results showed that in different scenarios,the average detection time of the designed algo-rithm in collision and non collision scenarios was 28.3 ms and 24.5 ms,respectively.This algorithm effectively short-ens the task completion time while reducing the energy consumption and operating costs of the robot.This techno-logical achievement has important value in improving the safety and efficiency of industrial automation,and helps to promote the process of industrial intelligence.
关键词
碰撞检测/路径规划/轴对齐包围盒/有向包围盒/人工势场算法/快速随机树-连接算法
Key words
Collision detection/Path planning/Axis aligned bounding box/Directed bounding box/Artificial potential field algorithm/Rapidly-exploring random tree-connect
维普
万方数据