The 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.
Collision detection for planning collision-free motion of two robot arms
1988 IEEE International Conference on Robotics and Automation ; 1988 ; Philadelphia, PA, United States
1988-01-01
Conference paper
No indication
English
Wiley | 2021
|A collision detection algorithm for telerobotic arms
NTRS | 1991
|Collision-Free Motion-Primitive-Based Motion Planning Algorithm for Fixed-Wing Robotic Aircraft
Springer Verlag | 2023
|Collision Free Path Planning for Welding Robot Based on CG-MOPSO
Springer Verlag | 2017
|