Open AccessCollision detection and avoidance method for two cooperative robot manipulators
Author(s) -
Aleksey Kabanov,
Denis A. Tokarev
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/709/4/044021
Subject(s) - collision avoidance , workspace , collision detection , collision , path (computing) , robot , computer science , control theory (sociology) , volume (thermodynamics) , motion planning , division (mathematics) , motion (physics) , artificial intelligence , control (management) , mathematics , physics , computer security , arithmetic , quantum mechanics , programming language
The paper examines a collisions detection and avoidance problem for two cooperative robot manipulators. The proposed collision detection method is based on the division of workspace into small discrete volume spaces. Each of the discrete volumes have the status “occupied” or “free”. The control system generates restriction signals when the motion along the calculated path will bring the manipulator into occupied volume spaces. A step-by-step algorithm of the collision detection system is given.