Self-collision Avoidance Method for a Dual-arm Robot

Abstract

The paper examines a self-collisions detection and avoidance problem for dual-arm robot. The proposed self-collisions detection method is based on the division of operational space into small discrete volume spaces. Each of the discrete volumes have the status “occupied” or “free”. The control system generates restriction signals when the motion along the calculated trajectory will bring the manipulator into occupied volume spaces. A step-by-step algorithm of the collision detection system is given. Algorithm implementation example is shown.