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Efficient Collision Avoidance for Industrial Manipulators with Overlapping Workspaces

In: Automation, Communication and Cybernetics in Science and Engineering 2015/2016

Author

Listed:
  • Philipp Ennen

    (IMA/ZLW & IfU, RWTH Aachen University)

  • Daniel Ewert

    (IMA/ZLW & IfU, RWTH Aachen University)

  • Daniel Schilberg

    (IMA/ZLW & IfU, RWTH Aachen University)

  • Sabina Jeschke

    (IMA/ZLW & IfU, RWTH Aachen University)

Abstract

This paper introduces an efficient collision watchdog predicting impacts between fast moving industrial robots. The presented approach considers the manipulator states in a three dimensional space. Tailored bounding volumes allow fast collision detection and distance calculations. The watchdog makes use of the internal rotary sensors of each robot to build an integrated world representation. Based on this information it is able to monitor the non-predictable behavior of all involved robots.

Suggested Citation

  • Philipp Ennen & Daniel Ewert & Daniel Schilberg & Sabina Jeschke, 2016. "Efficient Collision Avoidance for Industrial Manipulators with Overlapping Workspaces," Springer Books, in: Sabina Jeschke & Ingrid Isenhardt & Frank Hees & Klaus Henning (ed.), Automation, Communication and Cybernetics in Science and Engineering 2015/2016, pages 479-489, Springer.
    • Handle: RePEc:spr:sprchp:978-3-319-42620-4_38
    DOI: 10.1007/978-3-319-42620-4_38
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