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Application of Linear Algebra Approaches for Predicting Self-Collisions of Dual-Arm Multi-Link Robot

Vadim Kramar, Aleksey Kabanov, and Vasiliy Alchakov
Sevastopol State University, Sevastopol, Russia

Abstract— The article proposes a method for solving the self-collisions predicting problem of dual-arm multi-link robot. The method is based on the analysis of the distance between the skew vectors. The vectors describe the longitudinal axis of the cylinders - the links of the manipulators. The proposed approach will allow the prediction of possible self-collision of robot’s manipulators in online mode. Also, the application of the proposed approach is possible when implementing robot control based on the PbD approach in case of wrong actions of the operator (“teacher”), leading to a self-collision of manipulators. An example of using the presented approach is considered.

Index Terms— self-collisions, predicting problem, dual-arm robot, multi-link manipulator, linear algebra, robot control

Cite: Vadim Kramar, Aleksey Kabanov, and Vasiliy Alchakov, "Application of Linear Algebra Approaches for Predicting Self-Collisions of Dual-Arm Multi-Link Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 11, pp. 1521-1525, November 2020. DOI: 10.18178/ijmerr.9.11.1521-1525

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.