Collision detection algorithm for dual-robot system

摘要

Much more attention has been paid to collision detection for the safety in the complex task of manufacture or physical human-robot interaction. A novel collision detection algorithm is proposed for coordinated industrial robots in this paper. According to the actual situation, the links and the joints of the 6 DOF arc welding robots are simplified as some simple geometries. For its accuracy and effectiveness, we can determine whether the collision occurs through calculating the shortest distance between two geometries. A calculation method is proposed that are based on the most value of the binary function for the calculation of the shortest distance between the coordinated robot geometries. Then we use MATAB to simulate the algorithm. And the effectiveness of the proposed algorithm is verified by simulation in ADAMS.