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Robot Modelling and Collision Detection with MATLAB Robotics Toolbox

机译：使用MATLAB Robotics Toolbox进行机器人建模和碰撞检测

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摘要

The modelling of robotic systems and collision detection are important tasks for the manufacturing industry,targeting the reduction of possible damages to the robot working environment and human operators.The MATLAB software and Robotics Toolbox are powerful tools for robotics modelling and collision analysis.It provides means for the 3D modelling of robot,workcell and its components in MATLAB.The components include conveyors,cube shape and sphere shape objects which used to construct complex structures representing robot working environment.This paper describes an approach for collision detection between the robot and its working environment.Two main collision detection approaches are presented; one is based on the distance calculation between the robot and the obstacle,the second one consists on analyzing the trajectory of both the robot and the obstacle.For control purposes,several graphical user interfaces have been developed in order to make the process and the reading of the collision results clear for the user.
机译：机器人系统的建模和碰撞检测是制造业的重要任务，旨在减少可能对机器人工作环境和操作人员造成的损害.MATLAB软件和Robotics Toolbox是进行机器人建模和碰撞分析的强大工具。用于在MATLAB中对机器人，工作单元及其组件进行3D建模。这些组件包括用于构建代表机器人工作环境的复杂结构的输送机，立方体形状和球形对象。本文介绍了一种机器人及其工作之间的碰撞检测方法。提出了两种主要的碰撞检测方法;一种基于机器人与障碍物之间的距离计算，第二种基于分析机器人与障碍物的轨迹。出于控制目的，开发了多个图形用户界面以进行处理和读取碰撞结果对用户来说是清楚的。

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