Title
Collision Detector for Industrial Robot Manipulators
DOI
https://doi.org/10.1007/978-3-319-94120-2_18
Document Type
Conference Proceeding
Publication Date
1-1-2019
Publication Title
Advances in Intelligent Systems and Computing
Abstract
The increasingly complex tasks require an enormous effort in path planning within dynamic environments. This paper presents a efficient method for detecting collisions between a robot and its environment in order to prevent dangerous maneuvers. Our methods is based upon the transformation of each robot link and the environment in a set of bounding boxes. The aim of this kind of prismatic approximation is to detect a collision between objects in the workspace by testing collision between boxes from different objects. The computational cost of this approach has been tested in simulations, thus we have set up our environment with a HP20D robot and an obstacle, both represented by their corresponding chain of bounding boxes. The experiment implies to move the robot from an initial position, on the right of the obstacle, to a final position, on the left side of the obstacle, along a straight-line trajectory. The probe enabled us to check the correct behavior of a collision detector in a real situation.
Volume
771
First Page
187
Last Page
196
ISSN
21945357
ISBN
9783319941196
Recommended Citation
Rodriguez-Garavito, C. H.; Patiño-Forero, Alvaro A.; and Camacho-Munoz, G. A., "Collision Detector for Industrial Robot Manipulators" (2019). Scopus Unisalle. 193.
https://ciencia.lasalle.edu.co/scopus_unisalle/193
Identifier
SCOPUS_ID:85048617647