Real-time collision avoidance in two-armed robotic systems

Owing to the complexity of certain tasks, in particular those within a hazardous environment, there is a perceived need for robotic systems to have two-armed flexibility. The practical realisation of a teleoperated two-armed manipulator system raises a number of problems regarding operation and control. Of particular note is the problem of collision avoidance between the arms in real-time. A review of current techniques has shown a reliance on accurate knowledge, both of the environment and of the manipulator. Whereas collision avoidance with the environment will depend on sensors and the operator's skill, that between the two arms can be best left to the robot's controls system. A possible solution for collision avoidance is presented, which depends on the individual links of the manipulators being modelled as a number of spheres.