Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots
Self-collisions of a dual-arm robot system can cause severe damage to the robot. To deal with this problem, this paper presents a real-time algorithm for preventing self-collisions in dual-arm systems. Our first contribution in this work is a novel collision model built using discrete spherical boun...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-08-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/17/5893 |
| _version_ | 1797555547802697728 |
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| author | Maolin Lei Ting Wang Chen Yao Huan Liu Zhi Wang Yongsheng Deng |
| author_facet | Maolin Lei Ting Wang Chen Yao Huan Liu Zhi Wang Yongsheng Deng |
| author_sort | Maolin Lei |
| collection | DOAJ |
| description | Self-collisions of a dual-arm robot system can cause severe damage to the robot. To deal with this problem, this paper presents a real-time algorithm for preventing self-collisions in dual-arm systems. Our first contribution in this work is a novel collision model built using discrete spherical bounding volumes with different radii. In addition, we propose a sensitivity index to measure the distance between spheres with different radii in real time. Next, according to the minimal sensitivity index between different spheres, the repulsive velocity is produced at the centers of the spheres (control points), which the robot uses to generate new motion based on the robot kinematic model. The proposed algorithm offers the additional benefits of a decrease in the number of bounding spheres, and a simple collision model that can effectively decrease the computational cost of the process. To demonstrate the validity of the algorithm, we performed simulations and experiments by an upper-body humanoid robot. Although the repulsive velocity acted on the control points, the results indicate that the algorithm can effectively achieve self-collision avoidance by using a simple collision model. |
| first_indexed | 2024-03-10T16:49:05Z |
| format | Article |
| id | doaj.art-c1d832e9d7964548a1032f542875c638 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T16:49:05Z |
| publishDate | 2020-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-c1d832e9d7964548a1032f542875c6382023-11-20T11:21:56ZengMDPI AGApplied Sciences2076-34172020-08-011017589310.3390/app10175893Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm RobotsMaolin Lei0Ting Wang1Chen Yao2Huan Liu3Zhi Wang4Yongsheng Deng5State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaInterdepartmental Center for Advances in Robotic Surgery (ICAROS), University of Naples Federico II, 80125 Naples, ItalyState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaDepartment of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, ChinaSelf-collisions of a dual-arm robot system can cause severe damage to the robot. To deal with this problem, this paper presents a real-time algorithm for preventing self-collisions in dual-arm systems. Our first contribution in this work is a novel collision model built using discrete spherical bounding volumes with different radii. In addition, we propose a sensitivity index to measure the distance between spheres with different radii in real time. Next, according to the minimal sensitivity index between different spheres, the repulsive velocity is produced at the centers of the spheres (control points), which the robot uses to generate new motion based on the robot kinematic model. The proposed algorithm offers the additional benefits of a decrease in the number of bounding spheres, and a simple collision model that can effectively decrease the computational cost of the process. To demonstrate the validity of the algorithm, we performed simulations and experiments by an upper-body humanoid robot. Although the repulsive velocity acted on the control points, the results indicate that the algorithm can effectively achieve self-collision avoidance by using a simple collision model.https://www.mdpi.com/2076-3417/10/17/5893dual-arm manipulationself-collision avoidancemotion planning |
| spellingShingle | Maolin Lei Ting Wang Chen Yao Huan Liu Zhi Wang Yongsheng Deng Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots Applied Sciences dual-arm manipulation self-collision avoidance motion planning |
| title | Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots |
| title_full | Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots |
| title_fullStr | Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots |
| title_full_unstemmed | Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots |
| title_short | Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots |
| title_sort | real time kinematics based self collision avoidance algorithm for dual arm robots |
| topic | dual-arm manipulation self-collision avoidance motion planning |
| url | https://www.mdpi.com/2076-3417/10/17/5893 |
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