Real-Time Kinematics-Based Self-Collision Avoidance Algorithm for Dual-Arm Robots

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...

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Bibliographic Details
Main Authors: Maolin Lei, Ting Wang, Chen Yao, Huan Liu, Zhi Wang, Yongsheng Deng
Format: Article
Language:English
Published: MDPI AG 2020-08-01
Series:Applied Sciences
Subjects:
dual-arm manipulation
self-collision avoidance
motion planning
Online Access:https://www.mdpi.com/2076-3417/10/17/5893

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