Research on hybrid bounding box interference check algorithm for robot offline simulation system

Abstract

Aiming at the problem that the traditional industrial robot may interfere with the workpiece when running in the offline simulation environment, a hybrid bounding box algorithm based on octree is proposed. First, AABB is used for rough interference checks, which quickly eliminates the pairs of impossible objects to intersect, then OBB hierarchical bounding box is used for precise interference checks. A new OBB construction method is proposed, which recalculates the semi-axis length and centre of the constructed traditional OBB to make it surround the object as much as possible and reduce the space gap. A traversal method based on distance priority is proposed, which traversed the closest node every time by maintaining a priority queue. And in the update strategy, “update on demand” is adopted, which discards updating the entire tree before each intersection and only updates the current node during the intersection traversal to achieve the purpose of partial update. Experiments show that the proposed hybrid bounding box algorithm can detect interference faster and perform better real-time performance and accuracy.