Paper Title :Collision Detection for Robotic Motions Using Configuration Space
Author :Lin, Rong-Shine
Article Citation :Lin ,Rong-Shine ,
(2023 ) " Collision Detection for Robotic Motions Using Configuration Space " ,
International Journal of Mechanical and Production Engineering (IJMPE) ,
pp. 15-19,
Volume-11,Issue-4
Abstract : Abstract - Robotic manipulators have become more and more popular in industrial automations. To implement robot
motions on automations can be done easily by computer programming. However, the safety issue for robot motions in a
workspace is very important in factories. If the robotic arm collides with the peripheral devices, it damages the robot itself
and the collided devices. This research proposed a fast detection method to check whether the robot arms collide with the
peripheral devices, using Configuration space. The major work for it includes Oriented Bounding Box modeling and
Separating Axis Theorem for determining the object intersections. A loop-up table was built and stores 1 and 0 for objectintersected
areas and the intersection-free areas, respectively. To check whether the robotic arms collide with obstacles, one
just accesses the look-up table with robotic joint angles for the value either 1 or 0. If the value returns 1, the robotic arms
collide with an obstacle. On the other hand, if the value returns 0, it’s collision-free. The experimental result shows the
checking time for collision detection is around 0.01ms in average, which is much less than the sampling time requirement for
most of the robotic motion control applications.
Keywords - Collision Detection, Configuration Space, Separating Axis Theorem
Type : Research paper
Published : Volume-11,Issue-4
DOIONLINE NO - IJMPE-IRAJ-DOIONLINE-19659
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Copyright: © Institute of Research and Journals
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Published on 2023-07-11 |
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