Rapid self-collision detection method for space combination mechanical arm

The invention discloses a rapid self-collision detection method for a space combination mechanical arm. The method comprises the following steps of performing model enveloping of a sphere and capsulebody bounding box on a combination mechanical arm by a sphere and a capsule body combined bounding box method, wherein the combination mechanism arm is a combination of a core module mechanical arm and a lab module mechanical arm, and data acquisition is performed on an envelopment model; giving required parameters of the combination mechanical arm according to an actual task of the combination mechanical arm; and performing forward kinematic transformation according to the angle of each joint to obtain a new position and posture of the combination mechanical arm so as to realize rapid self-collision detection. The rapid self-collision detection method for the space combination mechanical arm can ensure real-time effective detection of self-collision with regard to a combination mechanicalarm embedded system with