基于层次包围盒的纱筒装取机械臂碰撞检测方法
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姬晨辉,沈丹峰,赵刚,孙海涛
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Collision detection method for yarn cylinder loading robotic arm based on hierarchical bounding box
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Chenhui JI,Danfeng SHEN,Gang ZHAO,Haitao SUN
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| 表2 基于不同包围盒的包络体积与构造时间对比 |
| Table 2 Comparison of envelope volume and construction time based on different bounding boxes |
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| 部件 | 包围盒 | 物体原始体积/cm3 | 包围盒包络 体积/cm3 | 构造时间/s |
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| 纱筒 | AABB | 60 335.916 | 97 628.533 | 0.179 1 | | OBB | 97 603.333 | 0.275 8 | | 包围球 | 180 692.640 | 0.234 6 | | 凸包 | 69 500.573 | 0.293 9 | | 基座 | AABB | 788 053.974 | 1 654 290.250 | 0.160 7 | | OBB | 1 650 153.500 | 0.255 4 | | 包围球 | 22 935 348.000 | 0.170 1 | | 凸包 | 1 396 174.567 | 0.275 0 | | 基座关节 | AABB | 702 155.954 | 1 940 893.750 | 0.173 6 | | OBB | 1 470 289.500 | 0.254 4 | | 包围球 | 2 996 371.760 | 0.179 0 | | 凸包 | 900 148.363 | 0.280 8 | | 大臂 | AABB | 162 151.564 | 688 929.625 | 0.169 0 | | OBB | 324 243.469 | 0.249 9 | | 包围球 | 3 500 265.500 | 0.183 2 | | 凸包 | 230 043.730 | 0.264 5 | | 小臂 | AABB | 155 781.901 | 736 117.375 | 0.169 2 | | OBB | 318 309.812 | 0.254 8 | | 包围球 | 3 466 680.000 | 0.232 6 | | 凸包 | 220 493.702 | 0.276 0 | 末端 执行器 | AABB | 830 559.749 | 2 599 459.750 | 0.174 9 | | OBB | 2 457 606.750 | 0.247 0 | | 包围球 | 16 044 103.000 | 0.196 4 | | 凸包 | 1 148 713.920 | 0.260 1 |
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