Title :
Real-time collision avoidance system for multiple robots operating in shared work-space
Author :
Duffy, N. ; Allan, D. ; Herd, J.T.
Author_Institution :
Dept. of Electr. & Electron. Eng., Heriot-Watt Univ., Edinburgh, UK
fDate :
11/1/1989 12:00:00 AM
Abstract :
The paper presents a method whereby the operation of multiple robots co-operating in a common workspace, can be continually monitored for potential collisions. The method described is applicable to robots with arbitrarily complex shapes, degrees of freedom and joint type, and provides collision detection in real time.
Keywords :
industrial robots; position control; real-time systems; 3D voxel model; collision avoidance system; collision detection; common workspace; manufacturing workcells; multiple robots; potential collisions; real time; shared work-space; volume elements;
Journal_Title :
Computers and Digital Techniques, IEE Proceedings E
