Development of a Demolition System and Collision Detection Algorithm

This paper presents a demolition system, which is composed of a spherical inspection robot and a demolition robot. For the former, it is designed to get information about the demolition scene. The demolition robot with three-fold arm was developed to perform demolition tasks. The arm can be folded if necessary to pass through narrow space, which improves its flexibility. Besides that, to protect the arm while working, a modified oriented bounding box method was proposed to detect the potential collision between the robot and the obstacles. This method not only offers the advantages of simplicity and feasibility, but also takes into consideration the computational requirements. Besides that, an integrated simulation system is established based on Simulink, which demonstrates the relative motion intuitively. The simulation and experimental results provide evidence of the effectiveness of collision detection.