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Collision-free motion planning for two articulated robot arms using minimum distance functions

Published online by Cambridge University Press:  17 August 2017

C. Chang,
M. J. Chung and
Z. Bien
C. Chang
Affiliation:
Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology P.O. Box 150. Cheongryangni, Seoul (Korea)
M. J. Chung
Affiliation:
Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology P.O. Box 150. Cheongryangni, Seoul (Korea)
Z. Bien
Affiliation:
Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology P.O. Box 150. Cheongryangni, Seoul (Korea)
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Summary

This paper presents a collision-free motion planning method of two articulated robot arms in a three dimensional common work space. Each link of a robot arm is modeled by a cylinder ended by two hemispheres, and the remaining wrist and hand is modeled by a sphere. To describe the danger of collision between two modeled objects, minimum distance functions, which are defined by the Euclidean norm, are used. These minimum distance functions are used to describe the constraints that guarantee no collision between two robot arms. The collision-free motion planning problem is formulated as a pointwise constrained nonlinear minimization problem, and solved by a conjugate gradient method with barrier functions. To improve the minimization process, a simple grid technique is incorporated. Finally, a simulation study is presented to show the significance of the proposed method.

Keywords

Robot armsCollision-free motionBarrier functionsMinimum distance functions

Information

Type
Research Article
Information
Robotica , Volume 8 , Issue 2 , April 1990, pp. 137 - 144
Copyright
Copyright © Cambridge University Press 1990

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