Abstract: A large number of non-convex models exist in three-dimensional simulation environment for dual-arm mobile robots, it is impossible to realize accurate real-time collision detection. This paper proposed a method to implement convex decomposition of non-convex models based on node tree of VRML. Pass vertexes returned by convex decomposition to Quickhull algorithm to create convex polyhedron that used for V-Clip collision detection algorithm to realize accurate real-time collision detection. In order to improve the efficiency of collision detection to enhance real-time simulation, bounding box is used. The results show that this method can make real-time collision detection and has great precision.

Key words: dual-arm mobile robot, collision detection, virtual reality modeling language（VRML）, V-Clip algorithm, bounding box