Robotic collision control

Many researchers have examined the possibility of using two or more robotic limbs in cooperative labour. The problem of controlling these multimanipulator systems is a magnitude more difficult than the control of one manipulator arm in time invariant space. The collisions of the frame or limbs are especially important where the manipulators are mounted on the same base. The method described in the paper uses a simplified multisphere model of the manipulators to define the collision space. Results of simulation with two manipulator systems, in terms of the defined collision space, are examined. The calculation of possible collisions is inherently parallel and concurrent implementation on transputers is undertaken. Some of the concurrent processing problems which result, such as processor allocation, communication minimisation and external interfacing, are also discussed. Methods for generalising the robot system in terms of manipulator type or number are given. Practical results from a laboratory system are shown and compared with simulated system