TY - GEN
T1 - Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity
AU - Zhou, Miaoying
AU - Zhang, Xinyu
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - 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.
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.
UR - https://www.scopus.com/pages/publications/85136325500
U2 - 10.1109/ICRA46639.2022.9811857
DO - 10.1109/ICRA46639.2022.9811857
M3 - 会议稿件
AN - SCOPUS:85136325500
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 243
EP - 249
BT - 2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 39th IEEE International Conference on Robotics and Automation, ICRA 2022
Y2 - 23 May 2022 through 27 May 2022
ER -