Abstract
AbstractThis article presents an approach to collision avoidance of industrial robots. It is based on the method of artificial potential or force fields. The field is generated by virtual charges which are placed on obstacles. The virtual force acts on the robot which results in the modification of the manipulator path to avoid collisions. Robot path modification is performed by means of impedance control. The positions of the obstacles are determined continuously by image processing using a simple USB camera, therefore collision avoidance is also able to deal with moving obstacles, e.g. other manipulators. All algorithms are implemented with a real robot system and experimental results are presented.
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