TY  - JOUR
AB  - Purpose– The purpose of this paper is to present an algorithm for performing collision avoidance with robotic manipulators.Design/methodology/approach– The method does not require any a priori knowledge of the motion of other objects in its environment. Moreover, it is computationally efficient enough to be implemented in real time. This is achieved by constructing limitations on the motion of a manipulator in terms of its allowable instantaneous velocity. Potential collisions and joint limits are formulated as linear inequality constraints. Selection of the optimal velocity is formulated as a convex optimization and is solved using an interior point method.Findings– Experimental results with two industrial arms verify the effectiveness of the method and illustrate its ability to easily handle many simultaneous potential collisions.Originality/value– The resulting algorithm allows arbitrary motions commanded to the robot to be modified on‐line in order to guarantee optimal real‐time collision avoidance behaviors.
VL  - 38
IS  - 2
SN  - 0143-991X
DO  - 10.1108/01439911111106390
UR  - https://doi.org/10.1108/01439911111106390
AU  - Bosscher Paul
AU  - Hedman Daniel
PY  - 2011
Y1  - 2011/01/01
TI  - Real‐time collision avoidance algorithm for robotic manipulators
T2  - Industrial Robot: An International Journal
PB  - Emerald Group Publishing Limited
SP  - 186
EP  - 197
Y2  - 2024/04/24
ER  -