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.


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    Title :

    Collision detection for planning collision-free motion of two robot arms


    Contributors:

    Conference:

    1988 IEEE International Conference on Robotics and Automation ; 1988 ; Philadelphia, PA, United States


    Publication date :

    1988-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English


    Keywords :


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