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