Efficient Collision Avoidance for Industrial Manipulators with Overlapping Workspaces

“This paper introduces an efficient collision watchdog predicting impacts between fast moving industrial robots. The presented approach considers the manipulator states in a three dimensional space. Tailored bounding volumes allow fast collision detection and distance calculations. The watchdog makes use of the internal rotary sensors of each robot to build an integrated world representation. Based on this information it is able to monitor the non-predictable behavior of all involved robots.”