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The algorithm for a collision-free trajectory generation is proposed and its implementation in on-line supervisory control of FMS is described. The algorithm makes the use of a collision detection engine applied in computer graphics and the change in a manipulator kinematics related to the virtual model of the FMS and exact position of the collision point. Virtual model surfaces are used as contact sensors to prevent objects from colliding. Any point of the robot’ s surface can be controlled and its trajectory planned. The exact 3D model is not a prerequisite for successful collision avoidance ; however, with a better model more precise collision avoidance is possible. The algorithm is also very adaptable when planning trajectories for manipulators with different end-effectors or manipulators carrying various objects.

Collision-Free Path Planning in Robot Cells Using Virtual 3D Collision Sensors