Detecting and avoiding collisions between two robot arms in a common workspace

摘要: A novel approach to collision detection is presented and methods of avoiding collisions are discussed. Collisions assumed be between the wrists two robots (which correspond upper three links PUMA manipulators). sphere model for wrist employed because it rotationally invariant computationally efficient. The algorithm involves obtaining potential path segments along straight line trajectories without considering motion characteristics, mapping segment information into time domain obtain space-time collisions.