On-line collision avoidance between two robot manipulators using collision map and simple Escaping method

摘要

This research aims to create an algorithm for avoiding potential collision between the end-effectors (EEFs) of two robot manipulators, which shared same workspace, in on-line mode. In this paper, a collision avoidance system of two Motoman robot manipulators (Yasukawa) has been described. A collision-map method has been proposed for detecting the collisions and presenting them onto 2-D coordinate system as collision area. Avoiding collisions have been performed using two methods. 1. Time scheduling method of trajectory of the robot which has received command to move. 2. Simple Escaping method for the robot which becomes an obstacle in the path of other one. The experimental results using advanced simulator are also shown.