Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity

Miaoying Zhou; Xinyu Zhang

ICRA 2022poster3 citations

Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity

Abstract

We present a fast collision checking/avoidance algorithm for collaborative robot arms that work in close proximity. We formulate forward kinematics and separating distance function using DH convention and Taylor models (the tight enclosure of a function), and then compute their tight bounds for determining interference between robot arms. Our algorithm allows the collaborative robot arms to perform fine and dexterous tasks in close spatial proximity.

BibTeX

@inproceedings{icra2022_fastcollisionche,
  title = {Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity},
  author = {Miaoying Zhou and Xinyu Zhang},
  booktitle = {ICRA 2022},
  year = {2022}
}