2A1-W03 On-line Collision-Free Motion of Two Command-Based Industrial Manipulators(Cooperation Control of Multi Robots)


In this paper, on-line collision avoidance between two industrial manipulators considering whole body has been addressed. Both robots are controlled using unpredictable PTP commands. We have improved the collision map method to be able to detect any potential collisions between all links of the robots. In addition, Based on the map, the collisions have been avoided using time scheduling of command execution times. Furthermore, the new map has been used skilfully to avoid deadlocks which may happen if one robot blocks the movement of the other.


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