Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot
This addresses collision avoidance for complex robotic systems, but it appears incremental as it builds on existing validation methods.
The paper tackles the problem of continuous collision detection for a cable-driven parallel robot with an embarked robotic arm by proposing a method that uses bounds on relative velocity and distance to validate paths, and it is tested with the CoGiRo robot and compared to a discretized method, showing integration into the Humanoid Path Planner software.
A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bound on their relative velocity and a lower bound on the distance between the bodies are computed and used to validate a portion of the path. These computations are done repeatedly until a collision is found or the path is validated. The method is integrated within the Humanoid Path Planner (HPP) software, tested with the cable-driven parallel robot CoGiRo, and compared to a discretized validation method.