Collision detection and avoidance in computer controlled manipulators

  • Authors:

  • Shriram M. Udupa

  • Affiliations:

  • Bell Telephone Laboratories, Naperville, Illinois and California Institute of Technology, Pasadena, California

  • Venue:
  • IJCAI'77 Proceedings of the 5th international joint conference on Artificial intelligence - Volume 2
  • Year:
  • 1977

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Abstract

The problem of planning safe trajectories for computer controlled manipulators with two movable links and multiple degrees of freedom is analyzed, and a solution to the problem proposed. The key features of the solution are: 1. the identification of trajectory primitives and a hierarchy of abstraction spaces that permit simple manipulator models, 2. the characterization of empty space by approximating it with easily describable entities called charts - the approximation is dynamic and can be selective, 3. a scheme for planning motions close to obstacles that is computationally viable, and that suggests how proximity sensors might be used to do the planning, and 4. the use of hierarchical decomposition to reduce the complexity of the planning problem.