Realtime collision avoidance using a robot manipulator with light-weight small high-speed vision systems
Sho Morikawa, Taku Senoo, Akio Namiki, Masatoshi Ishikawa · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · 2007
This paper describes a new realtime collision avoidance algorithm for a robot manipulator based on a new visual servo control. In the proposed algorithm, it is not necessary to compute the 3D position of the obstacle. Further, the manipulator can avoid the fast moving obstacle. The developed system uses several small light-weight high-speed vision chips placed on the surface of the robot manipulator. Experimental results of avoiding high-speed motion are shown.