Time-Varying Joint Constraint Map Using View Time Concept and Its Use on the Collision Avoidance of Two Robots

View Time 개념을 이용한 지변 조인트 제한 지도(JCM) 상에서의 두 로보트의 충돌 회피에 관한 연구

Two robots working in a common workspace may collide with each other. In this paper, a collision-free motion planning algorithm using view time concept is proposed to detect and avoid collision before robot motion. Collision may occur not only at the robot end effector but also at robot links. To detect and avoid potential collisions, the trajectory of the first robot is sampled periodically at every view time and the region in Cartesian space swept by the first robot is viewed as an obstacle during a single sampling period. The forbidden region in the joint constraint map (JCM). The JCM's are obtained in this way at every view time. An algorithm is established for collision-free motion planning of the two robot system from the sequence of JCM's and it is verified by simulations.