Collision Avoidance Using Potential Fields

Abstract

Control of manipulator collision avoidance by using computer-aided potential field method is studied. A repulsive force is artificially created using the distances between the robot links and obstacles, which are generated by a distance computation algorithm. Typical approaches for definition of link coordinate frames and kinematics computations are adopted. Control gains in the potential field control model are selected with respect to the ranges of the angular velocity and angular acceleration of an industrial robot. Results on collision detection and collision avoidance control are presented. Using a high-speed personal computer, real-time manipulator control was achieved. From the results, changing repulsive force gain can change the safety distance. This makes the safety zone adjustable and provides greater intelligence for robotic tasks under the ever-changing environment.