Real-time collision avoidance algorithm for robotic manipulators

Purpose - The purpose of this paper is to present an algorithm for performing collision avoidance with robotic manipulators.Design methodology approach - The method does not require any a priori knowledge of the motion of other objects in its environment. Moreover, it is computationally efficient en...

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Bibliographic Details
Published inIndustrial robot Vol. 38; no. 2; pp. 186 - 197
Main Authors Bosscher, Paul, Hedman, Daniel
Format Journal Article
LanguageEnglish
Published Bingley Emerald Group Publishing Limited 01.01.2011
Emerald
Subjects
Algorithms
Analysis
Applied sciences
Collision avoidance
Collision avoidance systems
Collisions
Computational efficiency
Computer programming
Computer science; control theory; systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Geometry
Manipulators
Methods
Optimization
Planning
Real time
Robot arms
Robotics
Robots
Studies
Velocity
Motion
Collisions
Robots
Programming and algorithm theory
On line
Collision
Interior point method
Control synthesis
Real time
Convex programming
Robotics
Manipulator
Minimum time
Inequality constraint
Object oriented
Arm
Collision avoidance
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Summary:Purpose - The purpose of this paper is to present an algorithm for performing collision avoidance with robotic manipulators.Design methodology approach - The method does not require any a priori knowledge of the motion of other objects in its environment. Moreover, it is computationally efficient enough to be implemented in real time. This is achieved by constructing limitations on the motion of a manipulator in terms of its allowable instantaneous velocity. Potential collisions and joint limits are formulated as linear inequality constraints. Selection of the optimal velocity is formulated as a convex optimization and is solved using an interior point method.Findings - Experimental results with two industrial arms verify the effectiveness of the method and illustrate its ability to easily handle many simultaneous potential collisions.Originality value - The resulting algorithm allows arbitrary motions commanded to the robot to be modified on-line in order to guarantee optimal real-time collision avoidance behaviors.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0143-991X
1758-5791
DOI:10.1108/01439911111106390