DYNAMIC COLLISION AVOIDANCE FOR MULTIPLE ROBOT MANIPULATORS SYSTEMS: JUST TREAT IT AS A SIMPLE CONTROL PROBLEM

摘要

Comparing this to existing approaches to collision avoidance, this new methodology has substantial advantages: 1. CARE makes sure, that the robots can generate the calculated evasive acceleration and avoid the collision at any time. 2. CARE is based on an intuitive, physically comprehensible and dynamic model of the collision process, which raises the confidence and the acceptance of such a safety system significantly. 3. CARE takes care of all potential collision dangers at the same time. 4. CARE is model based so that it can be adapted to new robot kinematics or new robot work-cells only by modeling the new environment. In combination with its capabilities of handling kinematic chains as well as grasp and release actions, CARE is a practical method and is being used in real-world applications. CARE has been implemented and tested in the multi-robot test bed CIROS of IRF. During the GETEX experiment in April 1999, CARE was the central safety system of the IRF's robot control system IRCS controlling the world's first free flying space robot ERA on board the Japanese satellite ETS-VII /5/. All collision avoidance experiments with ERA have been carried out very successfully, whereby CARE has taken full control over the space robot. This work was supported by the German Space Agency DARA/DLR under the Contracts No. 7984/40233, 50 TT 9434 and 6-056/0048.