Real time collision avoidance of a planar manipulator with an interfering single-link arm

Algorithms are developed which will detect a possible collision between a three-link planar manipulator and a single-link arm having random motions, then generate escape directions for each joint of the planar manipulator to avoid that possible collision in real time. The collision detection is performed by modeling the links of the planar manipulator as a series of vectors as opposed to checking strategic points on each link. These vectors are checked for an intersection with the vector that models the single-link arm. If an intersection is found, the possibility of a collision exists, and an appropriate escape motion for each joint of the planar manipulator is planned. The positioning of the vectors on the planar manipulator varies as a function of the joint velocities, thus allowing detection of a possible collision far enough in advance so the planar manipulator can avoid it