Anti-collision systems for robotic applications based on laser Time-of-Flight sensors

This paper discusses methods to avoid collisions between a robot and an obstacle, based on distance feedback given by a laser Time Of Flight (TOF) sensor. Two solutions are presented: the former (GCT: Geometry Consistent Trajectory) preserves the geometrical properties of the trajectory, while the latter (TCT: Time Consistent Trajectory) aims at preserving the time properties of the trajectory. Both the methods are validated on an experimental setup based on a two-head linear motor equipped with a commercial laser TOF sensor. Extension to a planar two d.o.f. manipulator equipped with a multiple beam sensor at the end effector is discussed as well.