Detecting and avoiding collisions between two robot arms in a common workspaceA novel approach to collision detection is presented and methods of avoiding collisions are discussed. Collisions are assumed to be between the wrists of two robots (which correspond to the upper three links of PUMA manipulators). A sphere model for the wrist is employed because it is rotationally invariant and computationally efficient. The collision detection algorithm involves obtaining the potential collision path segments along the straight line trajectories without considering the motion characteristics, and mapping the potential collision segment information into the time domain to obtain the space-time collisions.
Document ID
19880045611
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Basta, Robert A. (University of South Florida Tampa, FL, United States)
Mehrotra, Rajiv (University of South Florida Tampa, FL, United States)
Varanasi, Murali R. (South Florida, University Tampa, FL, United States)