High Precision Real Time Collision Detection

Coulombe, Alexandre; Lin, Hsiu-Chin

doi:10.48550/arxiv.2007.12045

Cited by 1 publication

(1 citation statement)

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“…Therefore, there is a lack of description of a technique for representations and distance calculation. A real-time collision detection method presented by Coulombe and Lin [ 10 ] employs an extended version of the GJK algorithm. The robot arm is represented with convex hulls and the extended GJK is used to estimate the minimum distance between the convex hulls.…”

Section: Related Workmentioning

confidence: 99%

An Online Distance Tracker for Verification of Robotic Systems’ Safety

Guclu

Örnek

Özkan

et al. 2023

Sensors

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This paper presents an efficient method for minimum distance calculation between a robot and its environment and the implementation framework as a tool for the verification of robotic systems’ safety. Collision is the most fundamental safety problem in robotic systems. Therefore, robotic system software must be verified to ensure that there are no risks of collision during development and implementation. The online distance tracker (ODT) is intended to provide minimum distances between the robots and their environments for verification of system software to inspect whether it causes a collision risk. The proposed method employs the representations of the robot and its environment with cylinders and an occupancy map. Furthermore, the bounding box approach improves the performance of the minimum distance calculation regarding computational cost. Finally, the method is applied to a realistically simulated twin of the ROKOS, which is an automated robotic inspection cell for quality control of automotive body-in-white and is actively used in the bus manufacturing industry. The simulation results demonstrate the feasibility and effectiveness of the proposed method.

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Section: Related Workmentioning

confidence: 99%