The Community for Technology Leaders
Green Image
ABSTRACT
The authors present a straightforward method to handle collision avoidance among multiple robot manipulators. The method allows manipulators to move from a specified starting point to a goal without colliding with any other manipulators or objects in their 3D environment. Potential fields guide the end-effector through Cartesian space, and parallel genetic algorithms calculate suitable joint variables for the manipulator trajectory.
INDEX TERMS
CITATION

A. Y. Zomaya and M. A. Gill, "A Parallel Collision-Avoidance Algorithm for Robot Manipulators," in IEEE Concurrency (out of print), vol. 6, no. , pp. 68-78, 1998.
doi:10.1109/4434.656781
87 ms
(Ver 3.3 (11022016))