Hierarchical Model-based Real-Time Collision-Free Trajectory Control for a Cual Arm Rrobot System

계층적 모델링에 의한 두 팔 로봇의 상호충돌방지 실시간 경로제어

  • Lee, Ji-Hong (Dept. of Mechatronics Engineering, Chungnam National University) ;
  • Won, Kyoung-Tae (Dept. of Mechatronics Engineering, Chungnam National University)
  • 이지홍 (충남대학교 메카트로닉스공학과) ;
  • 원경태 (충남대학교 메카트로닉스공학과)
  • Published : 1997.10.01

Abstract

A real-time collision-free trajectory control method for dual arm robot system is proposed. The proposed method is composed of two stages; one is to calculate the minimum distance between two robot arms and the other is to control the trajectories of the robots to ensure collision-free motions. The calculation of minimum distance between two robots is, also, composed of two steps. To reduce the calculation time, we, first, apply a simple modeling technique to the robots arms and determine the interested part of the robot arms. Next, we apply more precise modeling techniques for the part to calculate the minimum distance. Simulation results show that the whole algorithm runs within 0.05 second using Pentium 100MHz PC.

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