Collision avoidance for a multi-arm robotic cell

A hardware based method of collision avoidance for multi-arm robotic cells is described. The method is based on the use of a spatial occupancy modelling technique and is able to model jointed arm robots with complex shapes, in sufficient detail to allow two such robots to operate in close proximity without causing false collision detections. Protection is automatically extended to workpieces grasped by robots. The system operates in real time, a complete check of a working environment of 2.55 M side takes place in approximately 20 milliseconds