21 December 1993 Collision avoidance during teleoperation using whole-arm proximity sensors coupled to a virtual environment
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Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164891
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States
Abstract
This paper describes a collision avoidance system using Whole Arm Proximity (WHAP) sensors on an articulated robot arm. The capacitance-based sensors generate electric fields which completely encompass the robot arm and detect obstacles as they approach from any direction. The robot is moved through the workspace using a velocity command generated either by an operator through a force-sensing input device or a preprogrammed sequence of motions. The directional obstacle information gathered by the WHAP sensors is then used in a matrix column maximization algorithm that automatically selects the sensor closest to an obstacle during each robot controller cycle. The distance from this sensor to the obstacle is used to reduce the component of the command input velocity along the normal axis of the sensor, allowing graceful perturbation of the velocity command to prevent a collision.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Jim L. Novak, Jim L. Novak, John T. Feddema, John T. Feddema, Nadine E. Miner, Nadine E. Miner, Sharon A. Stansfield, Sharon A. Stansfield, } "Collision avoidance during teleoperation using whole-arm proximity sensors coupled to a virtual environment", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164891; https://doi.org/10.1117/12.164891
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