| Summary: | 碩士 === 國立高雄第一科技大學 === 機械與自動化工程系碩士班 === 105 === At present, most of the robot collision detection use the visual or feedback torque through the external sensor. The robot is difficult to distinguish unknown obstacles for the unknown working environment with this method. It may be another robot misjudged as obstacles. In addition, in order to prevent motor damage or human injury and other factors, the robot are often designed to stop motor by collision detection function when an abnormality occurs until the problem is solved and then restarted. However, in this series of automated production process, if the shutdown occurs, it will lead to the production process increased time.
For the above reasons, this paper presents a sensorless collision detection technology, and developed the trajectory planning after the collision, Output the robot of joint to the PC, so that robots can be carried out between each other interference testing, so as to avoid the sensor will with the robot as an obstacle problem. However, if use the basic geometric elements for interference testing, the calculation of the cost is very high. Therefore, in order to achieve real-time collision detection, this study uses a simple geometric structure of the bounding box to replace the complex robot structure to simplify the operation and construct a bounding volume hierarchy. If the root node of the box tree collides with it, it returns the attack to the child node, and the method can quickly exclude objects that can’t collision occur, and reduce the unnecessary mathematical overhead. Finally, when the collision occurs, the other events are triggered. Because of the concept that two aircrafts change the trajectory when they fly, we could know when the robot in the non-stop state, it would complete the requirements of the task.
In order to make the collision does not occur abnormal vibration when the trajectory of the robot change, this paper presents a number of methods and concepts of planning equations of motion. Defining the boundary conditions of its trajectory, the discrete position of the robot Point of the motion parameters to be calculated, so that the location of each point, speed, acceleration curve smooth, because of MATLAB robot toolbox which teach function, increase the visibility of the robot .So the robot toolbox of MATLAB establish two robots mathematical model to collision test and verify the feasibility of the theoretical assumptions for this paper.
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