本文選題：工業(yè)機器人　切入點：混合層次包圍盒　出處：《廣東工業(yè)大學》2017年碩士論文

【摘要】：虛擬現(xiàn)實是借助計算機、硬件設備、力學反饋等設備,實現(xiàn)與真實世界高度相似的虛擬環(huán)境的技術。碰撞檢測是虛擬現(xiàn)實領域中的關鍵問題,隨著機器人虛擬仿真技術的飛速發(fā)展,仿真環(huán)境中對碰撞檢測的效率與精準性要求也隨之提升,然而單一包圍盒碰撞檢測算法在大規(guī)模虛擬環(huán)境中通常因精準性不足、效率低產(chǎn)生穿透或延遲現(xiàn)象,無法實時檢測到碰撞發(fā)生,嚴重影響仿真環(huán)境的真實性。本文以Unity3D引擎結合三維建模軟件,開發(fā)了工業(yè)機器人虛擬仿真場景,研究了機器人在運動仿真過程中可能發(fā)生的多種復雜碰撞情況,針對單一層次包圍盒算法在精確性與效率上的不足提出了一種高效的混合層次包圍盒碰撞檢測算法,并完成算法實現(xiàn)過程中每個步驟的詳細設計。后在工業(yè)機器人虛擬仿真環(huán)境中通過示教作業(yè)仿真實驗驗證了本文所提出的碰撞檢測算法所具有的優(yōu)勢。具體地,本文主要工作如下:首先,通過SolidWorks、3ds Max建模軟件完成工業(yè)機器人虛擬仿真場景中設備與環(huán)境的建模,并利用Unity3D引擎搭建虛擬仿真場景。后針對虛擬環(huán)境中機器人軌跡規(guī)劃提出一種機器人空間圓弧軌跡插補算法,利用圓弧所在空間建立新坐標系并計算圓弧上各插補點,后將點變換到原坐標系中,最后映射到關節(jié)空間中各關節(jié)角以實現(xiàn)空間圓弧軌跡插補,為后續(xù)機器人復雜運動仿真奠定了基礎。其次,對層次包圍盒技術進行總結分析,針對單一層次包圍盒碰撞檢測算法存在穿透、漏檢以及精準性和效率不能滿足要求的問題,提出了一種基于AABB與OBB的混合層次包圍盒碰撞檢測算法,通過自頂向下的方法構造物體的層次包圍盒樹,在粗略檢測階段使用AABB,在精準檢測階段使用OBB;針對基元相交測試中傳統(tǒng)的三角面片測試效率低的問題,提出了一種基于空間正投影法與光線跟蹤法結合的三角面片相交測試算法,優(yōu)化了檢測速度;后采用基于時空相關性的加速遍歷方法實現(xiàn)對混合層次包圍盒樹的遍歷優(yōu)化,在時間復雜度上很好地滿足了檢測的要求。最后經(jīng)模型碰撞實驗驗證,本文所研究算法相較于單一AABB層次包圍盒算法在效率,精準性和穩(wěn)定性上都有所提升。最后,在本文所開發(fā)的工業(yè)機器人虛擬仿真環(huán)境中首先實現(xiàn)機器人運動過程中可能發(fā)生的多種復雜碰撞情況的檢測驗證;后在虛擬環(huán)境中實現(xiàn)機器人的示教編程仿真,通過虛擬示教方式獲取軌跡示教點并完成仿真作業(yè)實驗,在整個過程中實現(xiàn)對多種復雜碰撞情況的檢測;最后在機器人弧焊仿真實驗中結合碰撞檢測技術與Unity3D中的粒子系統(tǒng)實現(xiàn)焊接物理效果仿真,進一步驗證了本文所研究的碰撞檢測算法具有良好的精準性、實時性、穩(wěn)定性,可較好地滿足復雜虛擬場景中的碰撞檢測要求。
[Abstract]:Virtual reality (VR) is a kind of virtual environment which is highly similar to the real world by means of computer, hardware, mechanical feedback, etc. Collision detection is a key problem in the field of virtual reality. With the rapid development of robot virtual simulation technology, the efficiency and accuracy of collision detection in simulation environment are also improved. However, the single bounding box collision detection algorithm is usually due to the lack of accuracy in large-scale virtual environment. In this paper, the virtual simulation scene of industrial robot is developed by using Unity3D engine and 3D modeling software, which can not detect collision in real time and seriously affect the reality of simulation environment. In this paper, a variety of complex collision situations that may occur in the process of robot motion simulation are studied, and an efficient hybrid hierarchy bounding box collision detection algorithm is proposed for the lack of accuracy and efficiency of the single-level bounding box algorithm. The detailed design of each step in the realization of the algorithm is completed, and the advantages of the proposed collision detection algorithm are verified by the simulation experiment of teaching assignment in the virtual simulation environment of industrial robot. The main work of this paper is as follows: firstly, the modeling of equipment and environment in the virtual simulation scene of industrial robot is completed by SolidWorks 3DS Max. Then a robot space arc trajectory interpolation algorithm is proposed for the robot trajectory planning in the virtual environment. A new coordinate system is established in the space where the arc is located and the interpolation points on the arc are calculated. Then the point is transformed into the original coordinate system, and the angle of each joint in the joint space is mapped to realize the interpolation of the space arc trajectory, which lays the foundation for the subsequent robot complex motion simulation. Secondly, the hierarchical bounding box technology is summarized and analyzed. Aiming at the problems of single level bounding box collision detection algorithm, such as penetrating, missing detection, accuracy and efficiency, a hybrid hierarchical bounding box collision detection algorithm based on AABB and OBB is proposed. The hierarchical bounding box tree of objects is constructed by top-down method, AABB is used in rough detection, and OBBin is used in precision detection. In this paper, a triangulation intersection test algorithm based on spatial orthographic projection and ray tracing is proposed to optimize the detection speed, and then the hybrid hierarchy bounding box tree is traversed by an accelerated traversal method based on temporal and spatial correlation. Finally, the model collision experiments show that the proposed algorithm is more efficient, accurate and stable than the single AABB hierarchy bounding box algorithm. Finally, the model collision experiments show that the proposed algorithm can improve the efficiency, accuracy and stability of the algorithm compared with the single AABB hierarchy bounding box algorithm. In the virtual simulation environment of industrial robot developed in this paper, the detection and verification of many kinds of complex collisions that may occur in the course of robot movement are realized first, and then the simulation of robot teaching and programming is realized in the virtual environment. The trajectory teaching point is acquired by virtual teaching method, and the simulation experiment is completed, and the detection of various complex collision situations is realized in the whole process. Finally, in the robot arc welding simulation experiment combined with collision detection technology and particle system in Unity3D to achieve welding physical effect simulation, further verify that the collision detection algorithm studied in this paper has good accuracy, real-time, stability. It can meet the requirements of collision detection in complex virtual scene.
【學位授予單位】：廣東工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242.2;TP391.9

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