Abstract
Self-collisions of a dual-arm robot system can cause severe damage to the robot. To deal with this problem, this paper presents a real-time algorithm for preventing self-collisions in dual-arm systems. Our first contribution in this work is a novel collision model built using discrete spherical bounding volumes with different radii. In addition, we propose a sensitivity index to measure the distance between spheres with different radii in real time. Next, according to the minimal sensitivity index between different spheres, the repulsive velocity is produced at the centers of the spheres (control points), which the robot uses to generate new motion based on the robot kinematic model. The proposed algorithm offers the additional benefits of a decrease in the number of bounding spheres, and a simple collision model that can effectively decrease the computational cost of the process. To demonstrate the validity of the algorithm, we performed simulations and experiments by an upper-body humanoid robot. Although the repulsive velocity acted on the control points, the results indicate that the algorithm can effectively achieve self-collision avoidance by using a simple collision model.
Highlights
Dual-arm robotic systems are widely used in various settings to expand the working range compared with single-arm robotic systems
Collision model of thestrategy right arm, showing the distance between between sphere bounding volumes.index, Our self-collision avoidance relies on relationships the minimal sensitivity (a) the robot arm; (b)the distance between different spheres with different radii; (c) building a collision the repulsive velocity, and the angular velocity of the arm
When βlrmin = 0.4, it indicates a collision between the arms; when the magnitude of the repulsive velocity ||vre || = Vmax = 2.5, it indicates that the robot will stop motion
Summary
Dual-arm robotic systems are widely used in various settings to expand the working range compared with single-arm robotic systems. These algorithms can achieve self-collision avoidance, they do not consider the performance of the arm end-effector Compared to these traditional methods, some researchers have proposed a unified framework for detecting collisions in real time by using a series of sensors capable of estimating the joint torque and acceleration [14]. We propose an optimized collision model that decreases the computational cost as well as the robot hardware cost It increases the reaction speed and accuracy simultaneously without any sensors to detect the relative distance of the two arms. The goal of this study is to develop a real-time self-collision algorithm, independent armsof: with arebased considered, so that each arm is in danger avoidance two method that consists (1) conflicting a collision tasks model on a finite number of spheres with of self-collision.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
