Collision detection on robot applied in steam generator serving

Based on geometry modeling method, collision detection and protection when the robot serving in steam generator (SG) of nuclear plant was researched. All possible operation collisions were analyzed; the geometry model of robot and SG chamber was built. The distance algorithm of geometry model was deduced, and the problem of robotpsilas collision detection was translated into solving the minimum distance between geometry models. Considering the operation mode of virtual master-slave, position commands of slave-computer which received from upper-computer were examined, and collision safety was implemented in two levels of warning. Prototype experiment indicated that operational safety of the system had been greatly enhanced without hindering any normal robot operation.