ON-LINE PATH PLANNING WITH COLLISION AVOIDANCE FOR COORDINATE-CONTROLLED ROBOTIC MANIPULATORS

This paper presents a generic method for generating joint trajectories for robotic manipulators with collision avoidance capability. The coordinate motion control system of the heavy-duty hydraulic manipulator resolves joint references so that a goal pose can be reached in real-time without any collisions. The control system checks whether any part of the manipulator is at risk of colliding with itself, with other manipulators, or with environmental obstacles. If there is a risk of collision, then the collision server searches the points where the collision is about to occur and calculates the shortest distance between the colliding objects. The collision server retains static and dynamic point clouds, and it uses point cloud data to calculate the shortest distance between the colliding objects. The point clouds on the server are kept up to date with the manipulators' joint sensors and an external surveillance system. During coordinated motion control, the joint trajectories of the hydraulic manipulator are modified so that collisions can be avoided, while at the same time, the trajectory of the end-effector maintains its initial trajectory if possible. Results are given for a seven degrees of freedom redundant hydraulic manipulator to demonstrate the capability of this collision avoidance control system.