Advanced-Collision-Map-Based On-line Collision and Deadloack Avoidance between Two Robot Manipulators with PTP Commands

AFAGHANI, Ahmad Yasser

This research aims to build an on-line system for avoiding collisions and deadlocks between two robot manipulators which are controlled using point-to-point (PTP) commands. Both robots are sharing the same workspace and have no prior knowledge of the commands which will be sent after starting the system. We have proposed a collision map concept for detecting the collisions between the end-effectors of the robots [1]. In this work, an advanced collision map method has been created for detecting the collisions between the whole body of the robots and representing them as collision areas on the m ...Daha fazlası

Konferans Bildirisi 2014 AIYAMA, Yasumichi IEEE International Conferece on Automation Science and Engineering (CASE) 6 Görüntülenme

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On-Line Collision Avoidance of Two Comman-Based Industrial Robotics Arms Using Advanced Collision Map

AFAGHANI, Ahmad Yasser

This paper presents the development of a new stepclimbing mechanism for heavy load carriers. According to the method of measurement used, the results of experiments are given as the values of resistance and required driving force against a 10 mm step. The basic design of the proposed mechanism is illustrated, and a prototype is manufactured. Measuring impact acceleration using the prototype, we verify the accuracy of the mechanism CAE analysis. In addition, using the mechanism CAE analysis, we reveal the relationship between the angle, link length, and performance. Several experiments demonstr ...Daha fazlası

Makale 2014 AIYAMA, Yasumichi Journal of Robotics and Mechatronics 2 Görüntülenme