On-line collision detection of n-robot industrial manipulators using advanced collision map

This work addresses collision detection between n-robot industrial manipulators which are controlled using point-to-point commands in on-line mode. The robots are sharing the same workspace and have no prior knowledge of the commands which will be sent after start up the system. We have proposed an advanced collision map concept for detecting the collisions between only two robot manipulators. In this work, the advanced collision map method is generalized to detect the collisions between the whole body of n-robot and representing them as collision areas on single 2D-space map. To realize a collision-free trajectory of the robots, time scheduling of command execution time is successful to be applied to avoid collision areas on the map. The method is tested on an openGL-based simulator for demonstrating the effectiveness of the method.