Real-time Collision Avoidance for Robot Manipulators by Braking Trajectory Prediction

Master thesis (2015)

Authors

Contributors

N. Mansfeld (mentor)
J. Kober (mentor)
Programme
System and Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2015 Zhu, J.
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Published Date

24-11-2015

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Programme

System and Control

Abstract

The thesis contributes to the pre-collision strategies of robot manipulators by proposing a real-time implementable collision avoidance scheme. The collision is avoided by a braking controller that is activated by a braking trajectory predictor. The predictor provides distances of the end-effector to the object/human in the environment and braking is initiated when the predicted minimum distance to the object/human during braking is less than a certain threshold.

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