Collision Detector for Industrial Robot Manipulators

Rodríguez-Garavito, C. H.; Patiño-Forero, Alvaro A.; Camacho-Munoz, Guillermo A.

doi:10.1007/978-3-319-94120-2_18

Cited by 4 publications

(2 citation statements)

References 8 publications

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“…If the workspace is changed, then the corresponding C-Space should be updated. In online systems, as collision detection will be checked at every iteration, rougher but faster algorithms must be used as calculations [20,21,22].…”

Section: Obtaining High-dimensional Configuration Spacementioning

confidence: 99%

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Yerlikaya

Balkan

2021

Robotica

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Instead of using the tedious process of manual positioning, an off-line path planning algorithm has been developed for military turrets to improve their accuracy and efficiency. In the scope of this research, an algorithm is proposed to search a path in three different types of configuration spaces which are rectangular-, circular-, and torus-shaped by providing three converging options named as fast, medium, and optimum depending on the application. With the help of the proposed algorithm, 4-dimensional (D) path planning problem was realized as 2-D + 2-D by using six sequences and their options. The results obtained were simulated and no collision was observed between any bodies in these three options.

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Section: Obtaining High-dimensional Configuration Spacementioning

confidence: 99%

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Yerlikaya

Balkan

2021

Robotica

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“…This is due to the complexity (and the number) of the elements that define the volumes: to define tighter volumes, more components are required (e.g., a tighter Discretely Oriented Polytope (k-DOP) requires several bounding planes [15]). Rodriguez-Garavito et al [26] used bounding boxes to encapsulate the robot and the objects in the environment. Then, the collision detection algorithm had to evaluate the intersection of the bounding rectangles to find out if a collision occurred.…”

Section: Related Workmentioning

confidence: 99%

Trajectory Optimization of a Redundant Serial Robot Using Cartesian via Points and Kinematic Decoupling

Bottin

Rosati

2019

Robotics

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Moving from a given position to another with an industrial robot can be a challenging problem when the task is redundant around the tool axis. In this case, there are infinite ways of choosing both the starting and the ending configurations, so that the movement between the given points is not uniquely defined. In this paper, an algorithm that calculates the suboptimal movement between two positions is proposed, which automatically generates a cloud of safe via points around the workpiece and then by exploiting such points finds the suboptimal safe path between the two positions that minimizes movement time. The proposed method, in which the search of the suboptimal path is based on graph theory and the Dijkstra algorithm, can iteratively evaluate a high number of starting and ending configurations in low computational time, allowing performing a reasonably wide search of the suboptimal path within the infinite possible motions between the given points.

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Simulator for Planning Collision-Free Trajectories in Manipulation of Objects Applications

Martinez-Caldas

Rodríguez-Garavito

Peña-Ortega

et al. 2020

Computer Aided Systems Theory – EUROCAST 2019

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Collision Detector for Industrial Robot Manipulators

Cited by 4 publications

References 8 publications

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

Trajectory Optimization of a Redundant Serial Robot Using Cartesian via Points and Kinematic Decoupling

Simulator for Planning Collision-Free Trajectories in Manipulation of Objects Applications

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