基于层次包围盒的纱筒装取机械臂碰撞检测方法

姬晨辉,沈丹峰,赵刚,孙海涛

Collision detection method for yarn cylinder loading robotic arm based on hierarchical bounding box

Chenhui JI,Danfeng SHEN,Gang ZHAO,Haitao SUN

表4 不碰撞环境下各分离轴算法的计算效率对比

Table 4 Comparison of calculation efficiency of each separating axis algorithm in non-collision environment

算法 平均迭代耗时/ms 平均迭代数/次 内存增量/MB 传统分离轴 21.687 5 713.200 74.640 基于最近点的分离轴 3.275 0 24.975 4.590 梯度下降分离轴 2.022 5 10.850 2.045