Aiming at the self collision problem of double mechanical arms for ship' s hull outer surface curved forming in the actual process of motion planning, firstly, the reachable space of double manipulator arms is solved, and the possibility of collision between double manipulator arms in space is analyzed. Then, according to the actual processing conditions, the double mechanical arms are simplified to simple geometries such as capsules and spheres, and the collision detection between the mechanical arms is converted to the calculation of the distance between the geometries. For the calculation of the distance between capsules, the method of calculating the distance between space lines is adopted, which greatly simplifies the calculation and reduces the complexity of collision detection. Finally, based on the actual double mechanical arms DH parameters, the simulation is performed using the MATLAB toolbox to verify the correctness of the collision detection algorithm.
