두대의 회전 다관절형 로봇 머니퓰레이터를 위한 충돌회피 방법

A Collision Avoidance Method for Two Articulated Robot Manipluators

A simple time-delay method for avoiding collisions between two articulated robot manipulators is proposed. Links of robot are approximated by polyhedra and the danger of collision between two robots is expressed by distances between the robots. An algorithm, which can fast obtain the minimum time-delay value needed for collision avoidance, using scheme of following the boundary contour of collision region in the collision map which has information about collisions between two robots, is described.