ملخص البحث :

Collision problems of convex polyhedra, in different applications, attract researcher’s attentions recently. This paper proposes an efficient collision detection algorithm, for palletizing robot’s end-effector grasped a convex polyhedra object (Box), basedOriented Bounded Boxes (OBB) theory. The OBB theory is preferable for detecting collision, because of its ability to handle unspecified orientations of objects and the transformations, with high-accuracy. The key factor for detecting collision between twoOBBs is the Separating Axes Theorem (SAT). The spatial rotation representation of boxes is based Z-Y-Z Euler’s angles. The algorithm presents incremental distance computation, for planning translation path and spherical trajectory. Checking and simulations in C++ language and AutoCAD software, attest the accurate results.