Analysis of robot collision characteristics using the concept of the collision map

Authors:
Seung Hwan Park;Beom Hee Lee
Affiliations:
ASRI, School of Electrical Engineering, Seoul National University, San 56-1, Shinrim-Dong, Kwanak-Gu, Seoul, (South Korea), 151-742;ASRI, School of Electrical Engineering, Seoul National University, San 56-1, Shinrim-Dong, Kwanak-Gu, Seoul, (South Korea), 151-742
Venue:
Robotica
Year:
2006

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Robotica

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Abstract

Robot collision characteristics are analyzed by using the idea of the collision map. This analysis consists of the translations of the collision region on the collision map and they correspond to parallel movements of the original robot path. These translations are investigated in several cases and applied to general situations in which two robots are moving or working in a common workspace. Also, the collision characteristics are analyzed for a few special situations where the analysis of collision characteristics is crucial and the resultant solution for collision avoidance can be obtained.