In order to address the self-collision problem associated with the operation of modern industrial robots, this paper proposes a multi-degree-of-freedom (multi-DOF) collision detection algorithm that can detect self-collision in single arm and double arm robots as well as collision with the load. Firstly, the zero pose of the Denavit-Hartenberg model is built based on the manipulator configuration, and the coordinate information of each key point is obtained through a rotation and translation operation of the matrix. Then, the positional relation and distance between the detected objects are determined by the spatial geometry theory, and finally, collision is detected using a collision matrix. By simulating two groups of single arms and two groups of double arms, and from the laboratory testing of SR10C in the SIASUN robot factory, it has been verified that the proposed algorithm has good collision detection capability. Without the use of sensors, cameras, and other external devices, the collision between the arm and the load, and the collision between the cooperative robot and the load may be effectively detected and mitigated.

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