Efficient Collision Avoidance for Industrial Manipulators with Overlapping Workspaces

Philipp Ennen (), Daniel Ewert, Daniel Schilberg and Sabina Jeschke
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Philipp Ennen: IMA/ZLW & IfU, RWTH Aachen University
Daniel Ewert: IMA/ZLW & IfU, RWTH Aachen University
Daniel Schilberg: IMA/ZLW & IfU, RWTH Aachen University
Sabina Jeschke: IMA/ZLW & IfU, RWTH Aachen University

A chapter in Automation, Communication and Cybernetics in Science and Engineering 2015/2016, 2016, pp 479-489 from Springer

Abstract: Abstract This paper introduces an efficient collision watchdog predicting impacts between fast moving industrial robots. The presented approach considers the manipulator states in a three dimensional space. Tailored bounding volumes allow fast collision detection and distance calculations. The watchdog makes use of the internal rotary sensors of each robot to build an integrated world representation. Based on this information it is able to monitor the non-predictable behavior of all involved robots.

Keywords: Collision Detection; Industrial Manipulators; Overlapping Workspaces (search for similar items in EconPapers)
Date: 2016
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-319-42620-4_38

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DOI: 10.1007/978-3-319-42620-4_38

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