Affordable Collision Detection for a 3D-Printed Robotic Arm
Osmanović, Almir, Čabaravdić, Malik, Amer Sarajlić, Jasmin Halilović, Varda, Kenan · Tehnicki vjesnik - Technical Gazette · 2025
Collision detection and avoidance are crucial for safe and efficient robotic manipulation.This paper presents an affordable collision detection system for a 3Dprinted robotic arm using a Kinect camera integrated with the Robot Operating System (ROS).The proposed approach enables real-time environment perception and collision-free trajectory generation.Experimental results show a significant improvement in collision avoidance efficiency, achieving a 40% reduction in path length while maintaining real-time performance.The computational overhead introduced by collision detection is minimal, with a 12 ms delay per frame, which can be optimized further.It is demonstrating the system's ability to effectively handle dynamic environments, such as human obstacles.This work highlights the potential of low-cost 3D sensing solutions for robotics applications, making them more accessible and scalable.