This paper addresses the problem of collision avoidance between the two arms of a two-arm robot. Here, the problem is solved through the reflex action theory. One arm is protected by virtual protection zones. When an unscheduled event occurs, in other words, when the second arm is going to collide with the first one, the shape of the protection zones is modified. A motion is then computed for the first arm to rebuild the initial shape of the protection zones. By the way of this motion, any collision between the two arms is avoided. The use of different shapes for the protection zones is explained and justified. Several strategies to compute the motion are proposed and discussed. Finally, this method is tested in simulation and on real experiments for two-arm robots composed by planar or PUMA 560 manipulators.
Collision avoidance for a two-arm robot based on reflex actions: experimental results
Kollisionsschutz für einen zweiarmigen Roboter auf Basis von Reflexwirkungen: Versuchsergebnisse
1993
6 Seiten, 6 Bilder, 12 Quellen
Conference paper
English
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