Proceedings ArticleDOI
Collision detection for planning collision-free motion of two robot arms
R.A. Basta,R. Mehrotra,Murali Varanasi +2 more
- pp 638-640
TLDR
The authors focus on collision detection for planning collision-free motion of two robot arms in a common workspace using a sphere model for the wrists and a novel approach to collision detection.Abstract:
The authors focus on collision detection for planning collision-free motion of two robot arms in a common workspace. A collision-free motion is obtained by detecting collisions along the straight-line trajectories of the robots using a sphere model for the wrists and then replanning the paths and/or trajectories of one or both of the robots to avoid collisions. A novel approach to collision detection is presented and a discussion on collision avoidance is given. >read more
Citations
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Journal ArticleDOI
Fast and accurate collision detection based on enclosed ellipsoid
TL;DR: A fast and accurate method for detecting the collisions of convex polyhedra in a graphical simulation environment based on a newly developed method of distance estimate is presented.
Journal ArticleDOI
LP-based Algorithms for Detecting the Collision of Moving Objects
M.D.S. Aliyu,K. S. Al-Sultan +1 more
TL;DR: Two algorithms that use linear programming techniques to detect exact possible collisions between the objects in both time and space when the objects are represented as polyhedral sets in ℛ2 orℛ3 are developed.
Patent
Method for avoiding collisions between two robots
TL;DR: In this article, a method for avoiding collisions between two robots providing first movement information related to a first robot movement; determining for a plurality of second robot movements whether they involve a risk for collision between the first and second robots; and executing one of the second robots movements.
Journal ArticleDOI
Convex hull representations of models for computing collisions between multiple bodies
TL;DR: This paper considers a collision detection problem that frequently arises in the field of robotics, given a set of bodies with their initial positions and trajectories, and examines the effectiveness of solving a sequence of mathematical programs for each time segment over a global programming scheme which considers all segments at once.
Proceedings ArticleDOI
MIMIC: a robot planning environment integrating real and simulated worlds
F. Cao,B. Shepherd +1 more
TL;DR: The authors describe MIMIC, an interactive multirobot programming environment and robot vision system which allows program development and testing in an integrated real and simulated world which allows simulation to mirror the real world more closely than completely graphical simulation.
References
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Journal ArticleDOI
Collision Detection for Moving Polyhedra
TL;DR: It is shown that a quaternion representation of rotation yields constraints which are purely algebraic in a seven-dimensional space, which greatly simplifies computation of collision points, and allows us to derive an efficient exact intersection test for an object which is translating and rotating among obstacles.
Journal ArticleDOI
Collision-Free Motion Planning of Two Robots
Beom Hee Lee,C.S.G. Lee +1 more
TL;DR: Notions of collision map and time scheduling are developed and applied for realizing a collision-free motion planning and an example is shown for the time scheduling of the trajectory, which shows the significance of the proposed approach.
Proceedings ArticleDOI
A strategy for obstacle avoidance and its application to mullti-robot systems
TL;DR: A local method for obstacle avoidance based on the existence of extreme separating hyperplanes is presented, then extended to the coordinated motion of several mobile robots, and to the avoidance of two manipulators.
Proceedings ArticleDOI
Coordinating the motions of robot arms in a common workspace
TL;DR: A time/space planning system to coordinate the actions of two robot manipulators for transfer movements in a "sparse" environment is reported here and the performance is sufficient in normal circumstances to drive an execution module in real time with tool tip speeds about three inches per second.
Proceedings ArticleDOI
Pathfinding in multi-robot systems: Solution and applications
E. Freund,H. Hoyer +1 more
TL;DR: A general approach is given to the solution of the findpath problem in multi-robot systems based on a suitable structuring of the hierarchical overall system which includes the design ofThe hierarchical coordinator for on-line collision avoidance.