In the offline definition of a robotic task, usually only objects and robot target positions are known. The movement definition between the positions is not trivial, especially in cluttered environments. In this paper, a collision avoidance method is proposed, able to move a serial robot away from a collision point autonomously. To take into account joint limits, the movement is defined in the joint space. Moreover, some parameters have been introduced to keep the robot at a minimum distance from the object.

A novel collision avoidance method for serial robots

BOTTIN, MATTEO;Boschetti, Giovanni;Rosati, Giulio
2019

Abstract

In the offline definition of a robotic task, usually only objects and robot target positions are known. The movement definition between the positions is not trivial, especially in cluttered environments. In this paper, a collision avoidance method is proposed, able to move a serial robot away from a collision point autonomously. To take into account joint limits, the movement is defined in the joint space. Moreover, some parameters have been introduced to keep the robot at a minimum distance from the object.
Mechanisms and Machine Science
978-3-030-00364-7
978-3-030-00365-4
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11577/3277269
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