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Collision Detection

Collision geometry meshes, collision avoidance and clearance

Collision geometries define the physical space occupied by robots and their environments. To represent robot parts or obstacles in the environment, create collision objects like boxes, cylinders, spheres, or custom meshes. Use checkCollision to determine if different parts of a manipulator arm collide with each other (self-collisions) or with obstacles in the world while executing trajectories. The function also gives obstacle clearance to anticipate and avoid collisions.

Functions

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Rigid Body Trees

`capsuleApproximation`	Approximate collision geometries of rigid body tree with capsules (Since R2022b)
`checkCollision`	Check if robot is in collision (Since R2020b)
`addCollision`	Add collision geometry to rigid body (Since R2020b)
`clearCollision`	Clear all attached collision geometries (Since R2020b)

Collision Objects

`checkCollision`	Check if two geometries are in collision (Since R2019b)
`collisionBox`	Create box collision geometry (Since R2019b)
`collisionCapsule`	Capsule primitive collision geometry (Since R2022b)
`collisionCylinder`	Create collision cylinder geometry (Since R2019b)
`collisionMesh`	Create convex mesh collision geometry (Since R2019b)
`collisionSphere`	Create sphere collision geometry (Since R2019b)
`collisionVHACD`	Decompose mesh into convex collision meshes using V-HACD (Since R2023b)
`showCollisionArray`	Show array of collision objects in figure (Since R2023b)

Featured Examples

Check for Manipulator Self Collisions Using Collision Meshes

Check for manipulator self-collisions when executing a trajectory. The collision meshes are loaded via the <collision> tag defined in the URDF of a robot model. For more information about how to load collision data in other ways, see Create Collision Objects for Manipulator Collision Checking.

Open Live Script

Obtain Collision Data for Manipulator Collision Checking

Three ways to obtain a rigidBodyTree model with collision data. To see more in-depth examples that check for self-collisions or environment collision detection, see these other examples:

Open Live Script

Reduce Motion Planning Times Using Capsule Approximation

Approximate the collision geometries of a rigid body tree using a capsuleApproximation object and then perform motion planning with a manipulatorRRT object. If you use capsule approximations, you can reduce your path-planning times.

Open Live Script