Collision detection for planning collision-free motion of two robot armsThe authors focus on collision detection for planning collision-free motion of two robot arms in a common workspace. A collision-free motion is obtained by detecting collisions along the straight-line trajectories of the robots using a sphere model for the wrists and then replanning the paths and/or trajectories of one or both of the robots to avoid collisions. A novel approach to collision detection is presented and a discussion on collision avoidance is given.
Document ID
19890024613
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)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Meeting Information
Meeting: 1988 IEEE International Conference on Robotics and Automation