Kaloyan Yovchev
ABSTRACT
Collaborative robots are being used in various industrial tasks and need to collaborate with other robots or humans. An unforeseen obstacle may appear in their workspace at any time. Therefore, they must execute their motions without colliding with obstacles that are in the workspace. This paper proposes an algorithm for real-time dynamic obstacles avoidance for robotic manipulators. The workspace of the robot can be modeled as a graph with nodes corresponding to every conceivable set of joint coordinates matching to the workspace position of the end-effector. The obstacles are monitored during the trajectory execution. If there is an obstacle that could cause a collision with the robot, the proposed approach uses the generated graph and a breadth first search algorithm to replan the blocked part of the trajectory. The applicability of the algorithm is evaluated by experiments with planar type of robotic manipulators.
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Index Terms
- Real-time Trajectory Replanning for Dynamic Obstacles Avoidance for Robotics Manipulators
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