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JRM Vol.26 No.3 pp. 321-330
doi: 10.20965/jrm.2014.p0321
(2014)

Paper:

On-Line Collision Avoidance of Two Command-Based Industrial Robotic Arms Using Advanced Collision Map

Ahmad Yasser Afaghani and Yasumichi Aiyama

Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

Received:
December 26, 2013
Accepted:
March 17, 2014
Published:
June 20, 2014
Keywords:
on-line collision avoidance, point-to-point commands, advanced collision map, swept sphere volume, industrial robot arm
Abstract

Collision check of robots

This research aims to build a system for detecting and avoiding collisions between two industrial robotic arms that are controlled using point-to-point commands in on-line mode. Both robots have no prior knowledge of the commands which will be sent after starting the system. For this purpose, a collision map method has been improved to detect potential collisions between the robots and represent them as a collision area on the map. Commonly, industrial robotic arms have a cylindrical or a near-rectangular shape. The links of the robots have been approximated geometrically by using the swept sphere volume which presents tight modelling. Moreover, it is extremely easy to check for collisions and, therefore, feasible for on-line applications. To produce a collision-free trajectory for the robot, scheduling of the command execution time is necessary to avoid any collision areas on the map. The system has been tested on an OpenGLbased simulator to demonstrate the effectiveness of the system.

Cite this article as:
A. Afaghani and Y. Aiyama, “On-Line Collision Avoidance of Two Command-Based Industrial Robotic Arms Using Advanced Collision Map,” J. Robot. Mechatron., Vol.26, No.3, pp. 321-330, 2014.
Data files:
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