2P1-V07 On-line Collision-Free Motion of n-Robot Industrial Manipulators with Independent Controllers


In this paper, on-line collision avoidance of n-robot industrial manipulators considering whole body has been addressed. AH 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. Furthermore, the map has been used skillfully to avoid the collisions by means of time scheduling of command execution times, and to avoid deadlocks which may occur if any robot blocks the movement of the others.


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