Method and apparatus for self-collision monitoring of a manipulator

摘要

A method for self-collision monitoring of a manipulator, in particular of a robot, comprising the steps of:Determining a first geometric body (u2), of an associated first member (2) of the manipulator (s10);Determining a second geometric body (u), of an associated second member (5) of the same manipulator (s); andDetermining whether the distance (d) between the first and second geometric body (u, u) with a predetermined limit value (dmin) (s30), characterized in that the first and / or second geometric body (u) in a predetermined position relative to the associated member (5) of the manipulator kinematically preceding member (4) of the manipulator and is determined in such a way that it the associated member (5) of the manipulator, in different, in particular all positions of the associated member wrapped.