Fast Collision Checking for Dual-Arm Collaborative Robots Working in Close Proximity
Miaoying Zhou,Xinyu Zhang,Miaoying Zhou,Xinyu Zhang
We present a fast collision checking/avoidance algorithm for collaborative robot arms that work in close proximity. We formulate forward kinematics and separating distance function using DH convention and Taylor models (the tight enclosure of a function), and then compute their tight bounds for determining interference between robot arms. Our algorithm allows the collaborative robot arms to perfor...
