论文标题
高精度实时碰撞检测
High Precision Real Time Collision Detection
论文作者
论文摘要
碰撞检测和避免碰撞是这些系统的人类机器人相互作用的这些系统中的重要组成部分。可以在没有过多的安装和校准的情况下“开箱即用”的机器人系统非常理想。为此，我们提出了一个仅需要统一机器人描述格式（urdf）的通用，高精度，碰撞检测系统，并且能够实时运行。我们通过使用几何方法来确定环境中每个刚体之间的距离并检查碰撞，从而扩展了Gilbert-Johnson-Keerthi（GJK）算法。通过检查KUKA LBR IIWA 7 R800和MECACAMEACY MECA500的自我碰撞显示了所提出的系统的性能。将性能与灵活的碰撞库（FCL）进行比较。
Collision detection and collision avoidance are essential components in these systems for safe human-robot interactions. Robotics systems that can work "out-of-the-box" without excessive amount of installation and calibration from the experts is highly ideal. For this, we propose a generic, high precision, collision detect system that only requires the unified robot description format (URDF) and is capable of running in real time. We extended the Gilbert-Johnson-Keerthi (GJK) algorithm by utilizing a geometrical approach to determine the distance between each rigid body in the environment and check for collisions. The proposed system's performance is shown by checking the self-collision of the KUKA LBR iiwa 7 R800 and the Mecademic Meca500. The performance is compared to the Flexible Collision Library (FCL).
