Dynamic self-collision detection and prevention for 2-DOF robot arms using interval-based analysis

Abstract

The problems related to self-collision detection and optimal collision-free trajectory planning for a robot arm subjected to dynamic constraints is investigated. First, a computed-torque method is used to obtain a linearized closed-loop system. For this linearized system, the reference state that the robot arm is capable of reaching is verified through phase plane analysis. This will ensure that the robot arm can be stopped before self-collision occurs. Dynamic constraints are taken into account for a continuous motion of deceleration by calculating the bounds of the commanded force/torques with interval evaluations. When the reference state at t t δ +is not valid for selfcollision avoidance, a new feasible state is determined by adhering to an interval-based method which allows decomposition of a complex constrained optimization problem into a simple two-stage optimization problem with relaxed constraints. The optimized feasible state not only secures the robot arm against self-collision but also allows the robot arm to track the original reference trajectory closely. Simulation and experimental results of a 2-dof robot arm show the effectiveness of the proposed interval-based approach.

Real-time collision detection based on external torque mutation suppression and time series analysis

“…After training on the collision data set, the fuzzy system achieved fast and accurate collision detection (Dimeas et al, 2015). Intelligent algorithms can be used to design not only static thresholds but also dynamic thresholds, such as the long short-term memory network, which is used to design high-fit thresholds (Zhang et al, 2023).…”

“…, 2015). Intelligent algorithms can be used to design not only static thresholds but also dynamic thresholds, such as the long short-term memory network, which is used to design high-fit thresholds (Zhang et al. , 2023).…”

A novel approach for simplification of industrial robot dynamic model using interval method

“…Gouttefarde et al [15] presented an intervalanalysis-based approach to the wrench-feasible workspace determination of n-DOF parallel robots driven by n or more cables. In [16], a novel approach based on interval method was used to deal with problems of dynamic self-collision detection and prevention for 2-DOF robot manipulator. The forward kinematic map of serial manipulator was extended to intervals using the product of exponential formulation in order to analyze the kinematic errors [17].…”