Advanced-collision-map-based on-line collision and deadlock avoidance between two robot manipulators with PTP commands

This research aims to build an on-line system for avoiding collisions and deadlocks between two robot manipulators which are controlled using point-to-point (PTP) commands. Both robots are sharing the same workspace and have no prior knowledge of the commands which will be sent after starting the system. We have proposed a collision map concept for detecting the collisions between the end-effectors of the robots [1]. In this work, an advanced collision map method has been created for detecting the collisions between the whole body of the robots and representing them as collision areas on the map. Moreover, the map has been used to avoid the deadlocks which can be occurred if any robot becomes an obstacle in front of the other. To realize a collision-free trajectory of the robots, time scheduling of command execution time has been applied to avoid any collision areas on the map. The system has been tested on an openGL-based simulator for demonstrating the effectiveness of the system.