Abstract
In order to realize motion simulations and collision detections of serial industrial robots before actual operation, key technologies in virtual assembly, motion simulation and collision detection are presented in this paper. First, to build up virtual industrial robots which are in any form in virtual environment, a method is presented based on component-model structure. After that general kinematic model is analyzed and detail method is presented about how to calculate motion process. At last, based on OBB and BVH tree, a new algorithm is presented which partially renews BVH tree nodes. Based on algorithms mentioned in this paper, a software is wrote and several experiments are done with it. The experiment results shows that algorithms in this paper are effective for motion simulation and rapid collision detection of serial industrial robot in arbitrary form.
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