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An Algorithm for Collision Avoidance of Two-Arm Robot Manipulator Using Redundancy  

이석원 (우송대학교 컴퓨터전자정보공학부)
남윤석 (한국산업기술대학교 제어계측공학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.7, no.5, 2003 , pp. 1002-1012 More about this Journal
Abstract
An algorithm is suggested for collision avoidance of two-arm robot manipulator using redundancy. End-effectors of each redundant arm should move along each prescribed straight path to complete the given task, while avoiding collision with each other. Self-motion, considered as motion of each axis not to change the position and orientation of end-effector, is utilized in order to solve this problem. At each sampling time, self-motion is executed with the view to making farther between the links of each arm. Simulation results for two-arm robot manipulator, which has 9-d.o.f. respectively, are illustrated to show the performance of the algorithm.
Keywords
two-arm robot; self-motion;
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