Your browser does not support JavaScript!
http://iet.metastore.ingenta.com
1887

Real-time collision avoidance in two-armed robotic systems

Real-time collision avoidance in two-armed robotic systems

For access to this article, please select a purchase option:

Buy article PDF
$19.95
(plus tax if applicable)
Buy Knowledge Pack
10 articles for $120.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
Computer-Aided Engineering Journal — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

Owing to the complexity of certain tasks, in particular those within a hazardous environment, there is a perceived need for robotic systems to have two-armed flexibility. The practical realisation of a teleoperated two-armed manipulator system raises a number of problems regarding operation and control. Of particular note is the problem of collision avoidance between the arms in real-time. A review of current techniques has shown a reliance on accurate knowledge, both of the environment and of the manipulator. Whereas collision avoidance with the environment will depend on sensors and the operator's skill, that between the two arms can be best left to the robot's controls system. A possible solution for collision avoidance is presented, which depends on the individual links of the manipulators being modelled as a number of spheres.

References

    1. 1)
      • (1987) , Future directions for the life sciences in NASA.
    2. 2)
      • J. Lim , D.H. Chyung . Resolved position control for two cooperating robot arms. Robotica
    3. 3)
      • B.H. Lee , C.S.G. Lee . Collision-free motion planning for two robots. IEEE Trans. , 1 , 21 - 32
    4. 4)
      • J. Canny . Collision detection for moving polyhedra. IEEE Trans. , 2 , 200 - 209
    5. 5)
      • J. Lyman , A.M. Madri . Operator roles in robotics. Robotics Age
    6. 6)
      • Roth, B., Shimans, B.: `On force sensing information and its use in controlling manipulators', Proc. 9th Int. Symp. on Industrial Robotics, 1979.
    7. 7)
      • Daniels, A.D.: `A distributed sensing system for automotic collision avoidance on manipulators', Proc. Int Workshop on Nuclear Robotic Technologies and Applications, 1987.
    8. 8)
      • Cameron, S.: `A study of clash detection problem in robotics', Proc. IEEE Int. Conf. on Robotics and Automation, 085, p. 488–493.
    9. 9)
      • Crowder, R.M.: `The whole arm manipulator', 10th Annual BRA Conf., 1987, Birmingham.
    10. 10)
      • Roach, J., Boaz, J.: `Coordinating the motions of robot arms in a common workspace', Proc. IEEE Int. Conf. on Robotics and Automation, 1985, p. 494–499.
    11. 11)
      • Freund, E., Hoyers, H.: `Pathfinding in multi-robot systems: solutions and applications', Proc. IEEE Int. Conf. on Robotics and Automation, 1986, 1, p. 103–111.
    12. 12)
      • A. Cohen , J.D. Erickson . Future uses of machine intelligence and robotics for the space station and its implications for the US economy. IEEE J. Robot. Automat. , 3
    13. 13)
      • Alford, C.O., Belyeu, S.M.: `Coordinate control of two robot arms', Proc. IEEE Conf. on Robotics, 1984, p. 468–473.
    14. 14)
      • M. Raibert , J. Craig . Hybrid position/force control of manipulators. ASME J. Dyn. Syst. Measure. Control
    15. 15)
      • R.M. Crowder , K. Warwick , A. Pugh . (1988) The development of the design criteria for the command input device for teleoperated robotic systems, Robot control — theory and applications.
    16. 16)
      • Ishida, : `Force control in coordination of two arms', Proc. 5th Int. Conf. on Artificial Intelligence, 1977, p. 717–722.
    17. 17)
      • Russel, G.T.: `A review of electronic systems for remotely operated vehicles', Proc. 5th Int. Conf. on Electronics for Ocean Technology, 1987.
    18. 18)
      • Wong, E.K., Fu, K.S.: `A hierarchical-orthogonal-space approach to collision-free path planning', Proc. IEEE Int. Conf. on Robotics and Automation, 1985, p. 506–511.
    19. 19)
      • Clark, C.J., Stark, L.: `A comparison of control laws for a cooperating robot system', Proc. 1986 IEEE Int. Conf. on Robotics and Automation, 1986, 1, p. 390–394.
    20. 20)
      • de Pennington, A., Bloor, M., Balica, M.: `Geometric modelling: a contribution towards intelligent robots', Proc. 13th ISIR/ROBOT 7 Conf., p. 7.35–7.54.
http://iet.metastore.ingenta.com/content/journals/10.1049/cae.1991.0042
Loading

Related content

content/journals/10.1049/cae.1991.0042
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address