Co-ordinated movements to avoid collisions of a twin-robot system

Abstract A method of modelling collision avoidance between separate coordinated arms in the process of changing hands is presented. The shortest distance between two forearms is chosen as the criterion for kinematic modelling. Trajectories of various geometries are classified with respect to different collision situations. Parameters to be adjusted to avoid collisions are also discussed. To illustrate the modelling technique, two redundant anthropomorphic robots are considered to cooperate in rotating a wheel.