DocumentCode
277473
Title
Collision avoidance for a multi-arm robotic cell
Author
Duffy, Neil ; Slawek, Peter
Author_Institution
Dept. of Electr. & Electron. Eng., Heriot-Watt Univ., Edinburgh, UK
fYear
1992
fDate
33772
Firstpage
42401
Lastpage
42404
Abstract
A hardware based method of collision avoidance for multi-arm robotic cells is described. The method is based on the use of a spatial occupancy modelling technique and is able to model jointed arm robots with complex shapes, in sufficient detail to allow two such robots to operate in close proximity without causing false collision detections. Protection is automatically extended to workpieces grasped by robots. The system operates in real time, a complete check of a working environment of 2.55 M side takes place in approximately 20 milliseconds
Keywords
factory automation; industrial robots; position control; real-time systems; collision avoidance; factory automation; industrial robots; multiarm robotic cell; real time systems; spatial occupancy modelling;
fLanguage
English
Publisher
iet
Conference_Titel
Multi-Arm Robotics, IEE Colloquium on
Conference_Location
London
Type
conf
Filename
168578
Link To Document