대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1990년도 하계학술대회 논문집
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- Pages.480-484
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- 1990
두대의 회전 다관절형 로봇 머니퓰레이터를 위한 충돌회피 방법
A Collision Avoidance Method for Two Articulated Robot Manipluators
초록
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.
키워드