IRIS-96-357

Geometric Collision Detection and Potential Field Based Time Delay Planning for Dual Arm Systems

Sukhan Lee, Hadi Moradi, George Kardaras

In this paper, a method for collision detection and colli sion avoidance for dual arm robots is proposed. The colli sion detection, a fast geometric approach based on link intersection, detects the collision and constructs the colli sion region for given trajectories. The time delay planning determines the minimum necessary time delay to avoid collisions using a potential field representation for colli sion regions. The planning is based on a flexible, mas sively 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 colli sion region (e.g., concave or complicated regions).