Design of an obstacle and collision avoidance system for multi-robot manipulator coordination
In this report, a simulation of an obstacle and collision avoidance system for manipulator was presented. The rest of the document is organized as follows: first, a brief background of project is given, then the theoretical aspects of robotics systems are explained. Next, analysis from research pape...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2020
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| Online Access: | https://hdl.handle.net/10356/140255 |
| _version_ | 1811682088051539968 |
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| author | Pung, Angeline Yang Yu |
| author2 | Hu, Guoqiang |
| author_facet | Hu, Guoqiang Pung, Angeline Yang Yu |
| author_sort | Pung, Angeline Yang Yu |
| collection | NTU |
| description | In this report, a simulation of an obstacle and collision avoidance system for manipulator was presented. The rest of the document is organized as follows: first, a brief background of project is given, then the theoretical aspects of robotics systems are explained. Next, analysis from research papers are discussed. Lastly, results are shown, and it ends with conclusion. The simulation was done via MATLAB using an industrial robot, Kinova Gen3. To achieve the simulation as accurately as possible, the theoretical elements of robotic systems elaborated were incorporated with the algorithm. An obstacle and collision avoidance system is especially relevant today since there has been rising trend of industrial robots to replace human labour. Hence, the replacement robot should be of a high efficiency with minimal faults. There are several methods of collision detection and path planning methods that will be discussed. The pros and cons of these methods will be analysed to ensure the relevance with today’s world. The report will also include challenges faced and recommendation for future improvements. Overall, this project has enhanced the author’s knowledge for robotics. |
| first_indexed | 2024-10-01T03:51:16Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/140255 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:51:16Z |
| publishDate | 2020 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1402552023-07-07T18:49:57Z Design of an obstacle and collision avoidance system for multi-robot manipulator coordination Pung, Angeline Yang Yu Hu, Guoqiang School of Electrical and Electronic Engineering GQHu@ntu.edu.sg Engineering::Electrical and electronic engineering In this report, a simulation of an obstacle and collision avoidance system for manipulator was presented. The rest of the document is organized as follows: first, a brief background of project is given, then the theoretical aspects of robotics systems are explained. Next, analysis from research papers are discussed. Lastly, results are shown, and it ends with conclusion. The simulation was done via MATLAB using an industrial robot, Kinova Gen3. To achieve the simulation as accurately as possible, the theoretical elements of robotic systems elaborated were incorporated with the algorithm. An obstacle and collision avoidance system is especially relevant today since there has been rising trend of industrial robots to replace human labour. Hence, the replacement robot should be of a high efficiency with minimal faults. There are several methods of collision detection and path planning methods that will be discussed. The pros and cons of these methods will be analysed to ensure the relevance with today’s world. The report will also include challenges faced and recommendation for future improvements. Overall, this project has enhanced the author’s knowledge for robotics. Bachelor of Engineering (Electrical and Electronic Engineering) 2020-05-27T09:13:26Z 2020-05-27T09:13:26Z 2020 Final Year Project (FYP) https://hdl.handle.net/10356/140255 en A1076-191 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Electrical and electronic engineering Pung, Angeline Yang Yu Design of an obstacle and collision avoidance system for multi-robot manipulator coordination |
| title | Design of an obstacle and collision avoidance system for multi-robot manipulator coordination |
| title_full | Design of an obstacle and collision avoidance system for multi-robot manipulator coordination |
| title_fullStr | Design of an obstacle and collision avoidance system for multi-robot manipulator coordination |
| title_full_unstemmed | Design of an obstacle and collision avoidance system for multi-robot manipulator coordination |
| title_short | Design of an obstacle and collision avoidance system for multi-robot manipulator coordination |
| title_sort | design of an obstacle and collision avoidance system for multi robot manipulator coordination |
| topic | Engineering::Electrical and electronic engineering |
| url | https://hdl.handle.net/10356/140255 |
| work_keys_str_mv | AT pungangelineyangyu designofanobstacleandcollisionavoidancesystemformultirobotmanipulatorcoordination |