Collision detection and avoidance method for two cooperative robot manipulators

Kabanov, Aleksey; Tokarev, Denis A.

doi:10.1088/1757-899x/709/4/044021

Cited by 8 publications

(3 citation statements)

References 5 publications

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“…U att can be expressed as (13). Here, ξ is a coefficient that determines the size of U att and is directly proportional to the size of U att .…”

Section: A Hlcac 1) Kinematic Configurationmentioning

confidence: 99%

“…Passive safety assurance methods are those that reduce the degree of influence through hardware designs of the manipulators used [6] and those that do so through a shock absorption operation [7]- [9]. Another approach controls the robot when an collision is detected between a manipulator based on an impact sensor and a person [10]- [13]. However, these methods have the drawback of requiring robot-human contact.…”

Section: Introductionmentioning

confidence: 99%

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Manipulator Collision Avoidance System Based on a 3D Potential Field With ISO 15066

2022

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Recently, various intelligent technological innovations are being applied to smart factories. As manipulators are widely used in smart factories, the manipulator and the workspace of humans overlap, and interest in cooperative robots and human safety has increased. In relation to this, a collision-avoidance control algorithm applicable in three dimensions (3D) and that also meets existing safety standards for humans and robots is required. In this paper, we propose a 3D potential field-based manipulator collision avoidance algorithm that meets the requirements of the ISO 15066 standard. This algorithm applies Speed and Separation Monitoring(SSM) according to the distance between the manipulator and the obstacle and controls the speed of the manipulator slowly as the risk is higher. This allows us to overcome the limitations that existing studies have not been conducted on 3D potential field-based obstacle avoidance and that it is difficult to apply to the field without considering ISO 15066. The proposed system was verified through simulation and experiments, and through comparison with the existing algorithm, we verified that SSM was well applied to the proposed system.

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“…U att can be expressed as (13). Here, ξ is a coefficient that determines the size of U att and is directly proportional to the size of U att .…”

Section: A Hlcac 1) Kinematic Configurationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Manipulator Collision Avoidance System Based on a 3D Potential Field With ISO 15066

2022

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“…Thus, it is an ideal microgrid structure. As an important part of the smart grid, AC/DC microgrid has important value and advantages in developing and applying digital twins in the power field through AC/DC microgrid [2].…”

Section: Introductionmentioning

confidence: 99%

Operation and Maintenance Technology of Relay Protection Equipment Based on Digital Twin Technology

Tan

Wang

et al. 2023

J. Phys.: Conf. Ser.

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With the scale of the power grid is becoming larger and larger. The corresponding operation and maintenance work of the distribution network is becoming increasingly intelligent, which also puts forward corresponding requirements for the reliability of safe and stable operation of the power grid. The condition assessment of relay protection applies the scientific concept of condition-based maintenance to the actual work site, which is of great significance. To judge the operation status of the equipment and provide a scientific basis for maintenance, in this paper, based on the application of digital twin technology in microgrid operation and maintenance, the method of calculating reliability probability density by function is applied to solve the problems of fuzziness, gray, and randomness of the relay protection status index. The invention can evaluate the state of the relay protection of the power system and can timely and accurately put forward the corresponding relay protection inspection and maintenance scheme, thereby improving the maintenance efficiency of the relay protection and further strengthening the power supply reliability of the power system. It can ensure the security and stability of the power system and reduce the reliable power consumption of the majority of power users.

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Collision-Free Algorithm for Industrial Robots Based GJK and OBB Theories

Aalhasan,

Bao

2024

Lecture Notes in Electrical Engineering

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Collision detection and avoidance method for two cooperative robot manipulators

Cited by 8 publications

References 5 publications

Manipulator Collision Avoidance System Based on a 3D Potential Field With ISO 15066

Manipulator Collision Avoidance System Based on a 3D Potential Field With ISO 15066

Operation and Maintenance Technology of Relay Protection Equipment Based on Digital Twin Technology

Collision-Free Algorithm for Industrial Robots Based GJK and OBB Theories

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