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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Sukhan Lee Moradi, H. Kardaras, G. Sung-Kwon Kim |
| Copyright Year | 1997 |
| Description | Author affiliation: Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA (Sukhan Lee) |
| Abstract | In this paper a method for collision detection and collision avoidance for dual arm robots is proposed. The collision detection, a fast geometric approach based on link intersection, detects the collision and constructs the collision region for given trajectories. The time delay planning determines the minimum necessary time delay to avoid collisions using a potential field representation for collision regions. The planning is based on a flexible, massively parallel approach. It effectively avoids any local minima problems due to the potential field representation and can be used regardless of the complexity of the collision region (e.g., concave or complicated regions). |
| Starting Page | 882 |
| Ending Page | 887 |
| File Size | 702288 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780336127 |
| DOI | 10.1109/ROBOT.1997.620145 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1997-04-25 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Delay effects Robotic assembly Manipulators Orbital robotics Intelligent robots Parallel robots Parallel processing Assembly systems Robotics and automation Path planning |
| Content Type | Text |
| Resource Type | Article |
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