Abstract
Detecting collisions for planning collision-free motion of the wrists of two robot arms in a common workspace is discussed in this paper. A collision-free motion can be obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. In this paper, a collision detection algorithm is described and its role in collision avoidance is discussed. Collision detection is based on the premise that (1) the wrists of robots move monotonically on their preplanned straight line trajectories and (2) collisions never occur between the two wrists at the beginning points or end points.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
BrooksRodney A., Solving the find-path problem by good representation of free space, IEEE Trans. Systems, Man, and Cybernetics SMC-13, No. 3, March/April 1983, 190–197.
Lozano-PerezTomas, Automatic planning of manipulator transfer movements, IEEE Trans. Systems, Man, and Cybernetics SMC-11, No. 10, October 1981, 681–698.
Lozano-PerezTomas, Spatial planning: a configuration space approach, IEEE Trans. Computers C-32, No. 2, February 1983, 108–120.
ChienR.T., ZhangLing and ZhangBo, Planning collision-free paths for robotic arm among obstacles, IEEE Trans. Pattern Analysis and Machine Intelligence PAMI-6, No. 1, January 1984, 91–96.
GilbertElmer G. and JohnsonDaniel W., Distance functions and their application to robot path planning in the presence of obstacles, IEEE J. Robotics and Automation RA-1, No. 1, March 1985, 21–30.
WongE.K. and FuK.S., A hierarchical orthogonal space approach to three-dimensional path planning, IEEE J. Robotics and Automation RA-2, No. 1, March 1986, 42–53.
Freund, E. and Hoyer, H., Pathfinding in multi-robot systems: solutions and applications, Proc. IEEE Internat. Conf. Robotics and Automation, April 1986, pp. 103–111.
CannyJohn, Collision detection for moving polyhedra, IEEE Trans. Pattern Analysis and Machine Intelligence PAMI-8, No. 2, March 1986, 200–209.
Tournassoud, Pierre, A strategy for obstracle avoidance and its application to multi-robot systems, Proc. IEEE Internat. Conf. Robotics and Automation, April 1986, pp. 1224–1229.
Basta, R.A., Mehrotra, R., and Varanasi, M.R., Collision-free motion of two robot arms in a common workspace, CSE-87-00002 Technical Report, Dept. of Computer Science & Engineering, University of South Florida, Tampa, Florida.
Roach, J. and Boaz, M., Coordinating the motions of robot arms in a common workspace, Proc. IEEE Internat. Robotics and Automation, March 1985, pp. 494–499.
LeeB.H. and LeeC.S.G., Collision-free motion planning of two robots, IEEE Trans. Systems, Man, and Cybernetics SMC-17, No. 1, January/February 1987, 21–32.
Author information
Authors and Affiliations
Additional information
Research supported by the NASA-Langley Research Center under Grants #NAG-1-632 and #NAG-1-772 and the AT&T Foundation.
Rights and permissions
About this article
Cite this article
Mehrotra, R., Basta, R.A. & Varanasi, M.R. Collision detection between the wrists of two robot arms in a common workspace. J Intell Robot Syst 2, 29–41 (1989). https://doi.org/10.1007/BF00450554
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF00450554