Real-time collision avoidance algorithm for robotic manipulators

• Published in: Industrial robot Vol. 38; no. 2; pp. 186 - 197
• Main Authors: Bosscher, Paul, Hedman, Daniel
• Format: Journal Article
• Language: English
• 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
• DOI: 10.1108/01439911111106390
• ISSN: 0143-991X

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.