Collision avoidance for a two-arm robot by reflex actions: Simulations and experimentations

Lise Cellier; Pierre Dauchez; René Zapata; Masaru Uchiyama

doi:10.1007/BF01559613

Collision avoidance for a two-arm robot by reflex actions: Simulations and experimentations

Lise Cellier, Pierre Dauchez, René Zapata, Masaru Uchiyama

Research output: Contribution to journal › Article › peer-review

7 Citations (Scopus)

Abstract

This paper addresses the problem of collision avoidance between the two arms of a two-arm robot. In our case, the problem is solved through the reflex action theory. In fact, one arm is protected by virtual protection zones. When an unscheduled event occurs, in other words when the second arm is going to collide with the first one, the shape of the protection zones is modified. Then, a motion is computed for the first arm to rebuild the initial shape of the protection zones. The use of different shapes for the protection zones is explained and justified. Several strategies to compute the motion are proposed and discussed. Finally, this method is tested in simulation and on real experiments for different kinds of two-arm robots: planar manipulators, PUMA 560 robots and parallelogram robots.

Original language	English
Pages (from-to)	219-238
Number of pages	20
Journal	Journal of Intelligent & Robotic Systems
Volume	14
Issue number	2
DOIs	https://doi.org/10.1007/BF01559613
Publication status	Published - 1995 Oct

Keywords

Robot manipulators
collision avoidance
protection zones
reflex actions

ASJC Scopus subject areas

Software
Control and Systems Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1007/BF01559613

Fingerprint Dive into the research topics of 'Collision avoidance for a two-arm robot by reflex actions: Simulations and experimentations'. Together they form a unique fingerprint.

Cite this

@article{6c33513c2d704ffab85150bdc8205630,

title = "Collision avoidance for a two-arm robot by reflex actions: Simulations and experimentations",

abstract = "This paper addresses the problem of collision avoidance between the two arms of a two-arm robot. In our case, the problem is solved through the reflex action theory. In fact, one arm is protected by virtual protection zones. When an unscheduled event occurs, in other words when the second arm is going to collide with the first one, the shape of the protection zones is modified. Then, a motion is computed for the first arm to rebuild the initial shape of the protection zones. The use of different shapes for the protection zones is explained and justified. Several strategies to compute the motion are proposed and discussed. Finally, this method is tested in simulation and on real experiments for different kinds of two-arm robots: planar manipulators, PUMA 560 robots and parallelogram robots.",

keywords = "Robot manipulators, collision avoidance, protection zones, reflex actions",

author = "Lise Cellier and Pierre Dauchez and Ren{\'e} Zapata and Masaru Uchiyama",

year = "1995",

month = oct,

doi = "10.1007/BF01559613",

language = "English",

volume = "14",

pages = "219--238",

journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",

issn = "0921-0296",

publisher = "Springer Netherlands",

number = "2",

}

TY - JOUR

T1 - Collision avoidance for a two-arm robot by reflex actions

T2 - Simulations and experimentations

AU - Cellier, Lise

AU - Dauchez, Pierre

AU - Zapata, René

AU - Uchiyama, Masaru

PY - 1995/10

Y1 - 1995/10

N2 - This paper addresses the problem of collision avoidance between the two arms of a two-arm robot. In our case, the problem is solved through the reflex action theory. In fact, one arm is protected by virtual protection zones. When an unscheduled event occurs, in other words when the second arm is going to collide with the first one, the shape of the protection zones is modified. Then, a motion is computed for the first arm to rebuild the initial shape of the protection zones. The use of different shapes for the protection zones is explained and justified. Several strategies to compute the motion are proposed and discussed. Finally, this method is tested in simulation and on real experiments for different kinds of two-arm robots: planar manipulators, PUMA 560 robots and parallelogram robots.

AB - This paper addresses the problem of collision avoidance between the two arms of a two-arm robot. In our case, the problem is solved through the reflex action theory. In fact, one arm is protected by virtual protection zones. When an unscheduled event occurs, in other words when the second arm is going to collide with the first one, the shape of the protection zones is modified. Then, a motion is computed for the first arm to rebuild the initial shape of the protection zones. The use of different shapes for the protection zones is explained and justified. Several strategies to compute the motion are proposed and discussed. Finally, this method is tested in simulation and on real experiments for different kinds of two-arm robots: planar manipulators, PUMA 560 robots and parallelogram robots.

KW - Robot manipulators

KW - collision avoidance

KW - protection zones

KW - reflex actions

UR - http://www.scopus.com/inward/record.url?scp=0029386730&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0029386730&partnerID=8YFLogxK

U2 - 10.1007/BF01559613

DO - 10.1007/BF01559613

M3 - Article

AN - SCOPUS:0029386730

VL - 14

SP - 219

EP - 238

JO - Journal of Intelligent and Robotic Systems: Theory and Applications

JF - Journal of Intelligent and Robotic Systems: Theory and Applications

SN - 0921-0296

IS - 2

ER -