COLLISION AVOIDANCE METHOD FOR DUAL-ARM ROBOT WITH MOBILE PLATFORM

摘要

The present invention relates to a collision avoidance method for a dual-arm robot with a mobile platform to sensitively react to the collisions of a robot and instantly respond to the collisions by selecting detection units to be applied based on the operational state of the robot. The present invention comprises a determining step for determining if the robot is moving; a detecting step for detecting obstacles using a detection unit selected; and a responding step for responding to the detection result.;COPYRIGHT KIPO 2014;[Reference numerals] (AA) Start; (BB,GG,JJ,MM) Yes; (CC,FF,II,LL) No; (DD) Scanner on; (EE) Shaft torque sensor on; (HH,KK,NN) End; (S110) Moving?; (S130) Obstacles are detected?; (S140) Gripped objects?; (S150) Changing a moving route