JISE

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Journal of Information Science and Engineering, Vol. 37 No. 6, pp. 1363-1377

A Collision Detection Method for Robot Manipulators Modeled by Ellipse

HAOBIN SHI¹, MENG LIANG¹, KAO-SHING HWANG² AND WEI-ZHENG WANG²
¹School of Computer Science
Northwestern Polytechnical University
Xi’an, 710000 P.R. China
²Department of Electrical Engineering
National Sun Yat-sen University
Kaohsiung, 841 Taiwan
E-mail: shihaobin@nwpu.edu.cn; lmengzi@outlook.com;
hwang@g-mail.nsysu.edu.tw; carl_hwang@msn.com

The objective of this paper is aimed to estimate the actual shortest distance between links and obstacles which are represented by maximal Lowner-John (L-J) ellipses enclosed by the objects. But due to the elliptical inlay, there will be a case where the link is exposed outside the ellipse. This paper designs a method based on compensation method. Firstly, links are modeled by inner ellipses and related data tables and graphs are established. Then Gaussian function is used to obtain the compensated data graph about the shortest distance. Finally, the shortest distance of links and obstacles is estimated by interpolation method. Three experimental scenarios are designed in this paper, and compares inner ellipse method with circumscribed ellipse method to verify the effect of the proposed collision detection method.

Keywords: L-J ellipse, Gaussian compensation function, internal difference method, collision avoidance, robot manipulators

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