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Collision in rigidbodytree with external collision box

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Anup Sreekumar 2022-3-30

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回答： Karsh Tharyani 2022-4-4

采纳的回答： Karsh Tharyani

Hello,

I am new to matlab and studying robotics in matlab.

I used a rigidbodytree to create a three link robot.

I created 2 external collision box.

Using inverse kinematics i calculated the start and end configurations.

Then i created a trajecotry for the movement.

However how do i check for collision between the arm movements and collision body.

I am using collision cylinder but it creates the cylinder only for the joint.

Is there anyway to build a collision mesh across the lenght of the link or body, and then check collision ?

(In my problem, the link body hits the external collision box while the joints seems to be collision free)

Thank you

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Karsh Tharyani 2022-4-4

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Hi Anup,

To help you get started with collision geometries on the rigid body tree (adding collisions to a rigid body on the rigid body tree, or checking self-collisions and collisions with the environment), please refer to the following example

openExample('robotics/AddCollisionMeshesAndCheckCollisionsForManipExample')

on our addCollision Documentaion page

If you want to learn about collision geometry primitives(box, sphere, cylinder) and meshes in the Robotics Systems Toolbox, you can also refer to the example on "checkCollision" between two collision geometries

openExample('robotics/CheckGeometryCollisionStatusExample')

I hope this helps.

Best,

Karsh

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