Collision detection and avoidance method for two cooperative robot manipulators
Aleksey A. Kabanov, Denis A. Tokarev · IOP Conference Series Materials Science and Engineering · 2020
Abstract The paper examines a collisions detection and avoidance problem for two cooperative robot manipulators. The proposed collision detection method is based on the division of workspace into small discrete volume spaces. Each of the discrete volumes have the status “occupied” or “free”. The control system generates restriction signals when the motion along the calculated path will bring the manipulator into occupied volume spaces. A step-by-step algorithm of the collision detection system is given.