Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
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.
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