Realtime collision avoidance for industrial robots

Abstract A Realtime solution to the collision avoidance problem for industrial robots (e.g. PUMA 562) in a multirobot workcell is developed. Reducing the problem to more convenient kinematics and evaluating their actual and the most critical configurations leads to a decision between the preplanned and a modified trajectory which is based on security criteria. Components of the definitive trajectory are computed within robot controller cycle time and transformed back towards the 6 DOF-robot under consideration.