A new on-line method to avoid collisions with links of redundant articulated robots

@article{RahmanianShahri1996ANO,
  title={A new on-line method to avoid collisions with links of redundant articulated robots},
  author={N. Rahmanian-Shahri and Inge Troch},
  journal={Robotica},
  year={1996},
  volume={14},
  pages={611-619}
}
A new mathematical formulation of robot and obstacles is presented such that for on-line collision recognition only robot joint positions in workspace are required. This reduces calculation time essentially because joint positions in workspace can be computed every time from the joint variable through robot geometry. It is supposed that the obstacles in the workspace of the manipulator are represented by convex polygons. For every link of the redundant robot and every obstacle a boundary… CONTINUE READING

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