Abstract
The paper presents a method whereby the operation of multiple robots co-operating in a common workspace, can be continually monitored for potential collisions. The method described is applicable to robots with arbitrarily complex shapes, degrees of freedom and joint type, and provides collision detection in real time.
Original language | English |
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Pages (from-to) | 478-484 |
Number of pages | 7 |
Journal | IEE Proceedings E (Computers and Digital Techniques) |
Volume | 136 |
Issue number | 6 |
Publication status | Published - Nov 1989 |