Abstract
For effective application of industrial robots in coordinated operation, e. g. in flexible manufacturing systems and in automatic assembly, on-line automatic collision avoidance is an important but so far unsolved problem. Based on the structure of the hierarchical overall system for robots in coordinated operation, the collision avoidance problem is considered for robots with a common collision space. In the new approach presented, the collision avoidance strategy applies an analytically described avoidance trajectory which serves for collision detection as well as avoidance. As demonstrated, this new approach is well suitable for on-line collision avoidance between robots as well as between robots and obstacles.
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