Project Title:

Dual-Arm Collision Avoidance Algorithm

05.01-0300B
Dual-Arm Collision Avoidance Algorithm
Odetics Inc.
1515 S. Manchester Avenue
Anaheim
CA
92805
Timothy
Larson
(714-758-0300)
JPL

Abstract:

The challenge of making multiple robotic arm systems work synchronously in a common
workspace requires resolution of control issues encompassing collision avoidance,
compensation for dynamic forces induced on the payload carried by the arms, and cooperative
manipulation of a payload. This project will to undertake the definition, development
and testing of an algorithm which will determine when collisions are imminent for
two robotic manipulators moving in the same workspace. This will enable the manipulators
to slow down or stop before a collision occurs. The collision avoidance algorithm
will consist of two subsidiary algorithms:  the collision feasibility algorithm and
the collision detection algorithm. The proposed technique is innovative because the
collision avoidance calculations are computationally simple, permitting rapid execution
and allowing real-time operation.

Potential Commercial Application:

Potential Commercial Applications:  Applications consist of military systems maintenance
and ordnance preparation, in hazardous materials handling, and for maintenance and
repair in high-risk situations.