Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity

Miaoying Zhou; Xinyu Zhang

doi:10.1109/ICRA46639.2022.9811857

Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity

Miaoying Zhou, Xinyu Zhang

Software Engineering Institute

East China Normal University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

We present a fast collision checking/avoidance algorithm for collaborative robot arms that work in close proximity. We formulate forward kinematics and separating distance function using DH convention and Taylor models (the tight enclosure of a function), and then compute their tight bounds for determining interference between robot arms. Our algorithm allows the collaborative robot arms to perform fine and dexterous tasks in close spatial proximity.

Original language	English
Title of host publication	2022 IEEE International Conference on Robotics and Automation, ICRA 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	243-249
Number of pages	7
ISBN (Electronic)	9781728196817
DOIs	https://doi.org/10.1109/ICRA46639.2022.9811857
State	Published - 2022
Event	39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, United States Duration: 23 May 2022 → 27 May 2022

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2022-January
ISSN (Print)	1050-4729

Conference

Conference	39th IEEE International Conference on Robotics and Automation, ICRA 2022
Country/Territory	United States
City	Philadelphia
Period	23/05/22 → 27/05/22

Access to Document

10.1109/ICRA46639.2022.9811857

Cite this

Zhou, M., & Zhang, X. (2022). Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity. In 2022 IEEE International Conference on Robotics and Automation, ICRA 2022 (pp. 243-249). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2022-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA46639.2022.9811857

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title = "Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity",

abstract = "We present a fast collision checking/avoidance algorithm for collaborative robot arms that work in close proximity. We formulate forward kinematics and separating distance function using DH convention and Taylor models (the tight enclosure of a function), and then compute their tight bounds for determining interference between robot arms. Our algorithm allows the collaborative robot arms to perform fine and dexterous tasks in close spatial proximity.",

author = "Miaoying Zhou and Xinyu Zhang",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 39th IEEE International Conference on Robotics and Automation, ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022",

year = "2022",

doi = "10.1109/ICRA46639.2022.9811857",

language = "英语",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Zhou, M & Zhang, X 2022, Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity. in 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. Proceedings - IEEE International Conference on Robotics and Automation, vol. 2022-January, Institute of Electrical and Electronics Engineers Inc., pp. 243-249, 39th IEEE International Conference on Robotics and Automation, ICRA 2022, Philadelphia, United States, 23/05/22. https://doi.org/10.1109/ICRA46639.2022.9811857

Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity. / Zhou, Miaoying; Zhang, Xinyu.
2022 IEEE International Conference on Robotics and Automation, ICRA 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 243-249 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2022-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - We present a fast collision checking/avoidance algorithm for collaborative robot arms that work in close proximity. We formulate forward kinematics and separating distance function using DH convention and Taylor models (the tight enclosure of a function), and then compute their tight bounds for determining interference between robot arms. Our algorithm allows the collaborative robot arms to perform fine and dexterous tasks in close spatial proximity.

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Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity

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