DocumentCode
1079475
Title
Real-time collision avoidance system for multiple robots operating in shared work-space
Author
Duffy, N. ; Allan, D. ; Herd, J.T.
Author_Institution
Dept. of Electr. & Electron. Eng., Heriot-Watt Univ., Edinburgh, UK
Volume
136
Issue
6
fYear
1989
fDate
11/1/1989 12:00:00 AM
Firstpage
478
Lastpage
484
Abstract
The paper presents a method whereby the operation of multiple robots co-operating in a common workspace, can be continually monitored for potential collisions. The method described is applicable to robots with arbitrarily complex shapes, degrees of freedom and joint type, and provides collision detection in real time.
Keywords
industrial robots; position control; real-time systems; 3D voxel model; collision avoidance system; collision detection; common workspace; manufacturing workcells; multiple robots; potential collisions; real time; shared work-space; volume elements;
fLanguage
English
Journal_Title
Computers and Digital Techniques, IEE Proceedings E
Publisher
iet
ISSN
0143-7062
Type
jour
Filename
42815
Link To Document