ON THE COLLISION DETECTION PROBLEM FOR ROBOT MANIPULATORS

Abstract

Abstract This paper presents a straightforward method for collision detection involving robot manipulators in three dimensions. Two types of collision are considered, the first occurring among multiple robot manipulators and the second occurring between robot manipulators and objects in the workspace. The methods are based on determining the distances between two robot manipulators or between a robot manipulator and an object, using approximate models of both the robot manipulators and the objects.