CA2120534A1 - Real time collision detection - Google Patents

Real time collision detection

Info

Publication number
CA2120534A1
CA2120534A1 CA002120534A CA2120534A CA2120534A1 CA 2120534 A1 CA2120534 A1 CA 2120534A1 CA 002120534 A CA002120534 A CA 002120534A CA 2120534 A CA2120534 A CA 2120534A CA 2120534 A1 CA2120534 A1 CA 2120534A1
Authority
CA
Canada
Prior art keywords
real time
collision detection
time collision
workspace
sphere
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002120534A
Other languages
French (fr)
Other versions
CA2120534C (en
Inventor
Michael A. Greenspan
Nestor Burtnyk
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Research Council of Canada
Original Assignee
Michael A. Greenspan
Nestor Burtnyk
National Research Council Of Canada
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Michael A. Greenspan, Nestor Burtnyk, National Research Council Of Canada filed Critical Michael A. Greenspan
Publication of CA2120534A1 publication Critical patent/CA2120534A1/en
Application granted granted Critical
Publication of CA2120534C publication Critical patent/CA2120534C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40442—Voxel map, 3-D grid map
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40447—Bitmap based
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40492—Model manipulator by spheres for collision avoidance

Abstract

A method is provided for detecting a collision between a robot and one or more obstacles before it occurs. The robot is modeled by spheres in a voxelized workspace. Each voxel within the workspace is assigned a value which corresponds to its distance from the closest obstacle. A collision is determined to be imminent if the voxel value at the centre of a sphere is less than the radius of the sphere in voxels.
CA002120534A 1993-03-17 1994-03-16 Real time collision detection Expired - Lifetime CA2120534C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/032,314 US5347459A (en) 1993-03-17 1993-03-17 Real time collision detection
US08/032,314 1993-03-17

Publications (2)

Publication Number Publication Date
CA2120534A1 true CA2120534A1 (en) 1994-09-18
CA2120534C CA2120534C (en) 2004-05-04

Family

ID=21864272

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002120534A Expired - Lifetime CA2120534C (en) 1993-03-17 1994-03-16 Real time collision detection

Country Status (2)

Country Link
US (1) US5347459A (en)
CA (1) CA2120534C (en)

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