Simpliefied Collision Detection in 4r Serial Manipulators

• Autorzy: Handke A.
• Języki publikacji: EN

Abstrakty

EN

This paper concerns the problem of designating criteria for assessing the possibility of a collision between the elements of serial manipulators with three rotary joints allowing to flex the segments in common plane oriented by rotating the fourth connection. The issue of contactless and efficient functioning of described group of manipulators has been considered in the spatial system. Equations were derived determining the possibility of a collision between selected segments of both manipulators. Collision detection model isn't based on the information from the tactile sensors, but only on the relative position between the segments of manipulators. Based on the parameters defining the collision, the search for method of impossible collision was set on designing level, in order to minimize the time needed to examine all possible scenarios of collisions between segments. The results were included in development of methods and algorithms for planning and controlling movements of finger modules in anthropomorphic manipulator during grasping objects of indeterminate shape.

Słowa kluczowe

EN

serial manipulator; collision detection; movement planning

PL

manipulator szeregowy; wykrywanie kolizji; planowanie przemieszczania

• Wydawca: Oficyna Wydawnicza Politechniki Białostockiej
• Czasopismo: Acta Mechanica et Automatica
• Rocznik: 2013
• Tom: Vol. 7, no. 1
• Strony: 11--14
• Opis fizyczny: Bibliogr. 6 poz., rys.

Twórcy

autor

Handke A.

• Division of Machine Theory and Mechatronic Systems, Faculty of Mechanical Engineering, Wroclaw University of Technology, ul. Łukasiewicza7/9 50-150 Wrocław, Poland,

Bibliografia

• 1. Bosscher P., Hedman D.(2011), Real-time collision avoidance algorithm for robotic manipulators, Industrial Robot: An International Journal, Vol. 38, No. 2, 186-197
• 2. De Luca A., Albu-Schaffer A., Haddadin S., Hirzinger G.(2006),Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm, Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,Beijing
• 3. Handke A., Twaróg W. (2010),Correlation of sensory parameters' mathematical models with the kinematic structure of a HAND-K3 human hand type manipulator, Acta Mechanica et Automatica,Vol. 4 No. 3.
• 4. Handke A., Twaróg W. (2012), Method for Plannig the Finger's Movement in the Anthropomorphic Manipulator Hand-K3m Using a Tactile Sensors Network, with the Aim of Optimal Grasping, Mechanism and Machine Science, Vol. 8, 309 - 315.
• 5. Spencer A., Pryor M., Kapoor C., Tesar D.(2008), Collision Avoidance Techniques for Tele-Operated and Autonomous Manipulators in Overlapping Workspaces, IEEE International Conference on Robotics and Automation ,Pasadena.
• 6. Zaeh M.F., Egermeier H., Petzold B., Spitzweg M. (2004), Dexterous Object Manipulation in a Physics Based Virtual Environment, Proceedings of Mechatronics & Robotics 2004, Aachen, 1340-1344.