New Algorithm to Avoid Link-Collision in Manipulators with Continuously Changed Hard Limits


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Abstract


Some articulated robotic manipulators, such as ED-7220C robotic arm, have most of their actuators located at the robot base. Power is transmitted from the motors via spur gears and timing belts to robot links. Consequently, the motion of robotic links are not related to each other, but related to the base of the robot. This kind of robot designs has many advantages, but the main disadvantage is that the links may collide with each other due to geometric constrains. Collisions consume the operator’s awareness, exertion, and also consume time. Collision avoidance algorithm is developed and presented. A simple GUI is also developed to provide an easy way to drive the robot. The developed algorithm is tested to the robot and shows a good response with zero collision under normal operating conditions.
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Keywords


Collision Avoidance; GUI; Robotic Manipulator; Self-Collision

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References


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