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Automation, Communication and Cybernetics in Science and Engineering 2015/2016 pp 479–489Cite as

Efficient Collision Avoidance for Industrial Manipulators with Overlapping Workspaces

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Abstract

This paper introduces an efficient collision watchdog predicting impacts between fast moving industrial robots. The presented approach considers the manipulator states in a three dimensional space. Tailored bounding volumes allow fast collision detection and distance calculations. The watchdog makes use of the internal rotary sensors of each robot to build an integrated world representation. Based on this information it is able to monitor the non-predictable behavior of all involved robots.

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Author information

Authors and Affiliations

  1. IMA/ZLW & IfU, RWTH Aachen University, Dennewartstr. 27, 52068, Aachen, Germany

    Philipp Ennen, Daniel Ewert, Daniel Schilberg & Sabina Jeschke

Authors
  1. Philipp Ennen
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  2. Daniel Ewert
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  3. Daniel Schilberg
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  4. Sabina Jeschke
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Corresponding author

Correspondence to Philipp Ennen .

Editor information

Editors and Affiliations

  1. IMA/ZLW, RWTH Aachen Univ IMA/ZLW, Aachen, Germany

    Sabina Jeschke

  2. Faculty of Mechanical Engineering, IMA/ZLW & IfU - RWTH Aachen Univers Faculty of Mechanical Engineering, Aachen, Nordrhein-Westfalen, Germany

    Ingrid Isenhardt

  3. Faculty of Mechanical Engineering, IMA/ZLW & IfU - RWTH Aachen Univers Faculty of Mechanical Engineering, Aachen, Germany

    Frank Hees

  4. Faculty of Mechanical Engineering, IMA/ZLW & IfU - RWTH Aachen Univers Faculty of Mechanical Engineering, Aachen, Germany

    Klaus Henning

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© 2016 Springer International Publishing Switzerland

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Ennen, P., Ewert, D., Schilberg, D., Jeschke, S. (2016). Efficient Collision Avoidance for Industrial Manipulators with Overlapping Workspaces. In: Jeschke, S., Isenhardt, I., Hees, F., Henning, K. (eds) Automation, Communication and Cybernetics in Science and Engineering 2015/2016. Springer, Cham. https://doi.org/10.1007/978-3-319-42620-4_38

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