Real-time collision avoidance in two-armed robotic systems

Owing to the complexity of certain tasks, in particular those within a hazardous environment, there is a perceived need for robotic systems to have two-armed flexibility. The practical realisation of a teleoperated two-armed manipulator system raises a number of problems regarding operation and control. Of particular note is the problem of collision avoidance between the arms in real-time. A review of current techniques has shown a reliance on accurate knowledge, both of the environment and of the manipulator. Whereas collision avoidance with the environment will depend on sensors and the operator´s skill, that between the two arms can be best left to the robot´s controls system. A possible solution for collision avoidance is presented, which depends on the individual links of the manipulators being modelled as a number of spheres