Investigation of the characteristics of the manipulators collision prevention system

Investigation of the characteristics of the manipulators collision prevention system

Mihail G. Fikov
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Programmer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Viktor V. Varlashin
RTC, Junior Research Scientist, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received October 18, 2022

Abstract
The paper considers the problem of detecting and preventing collisions of manipulators with each other and with segments of the robot itself in a virtual environment. The proposed solution is to use simulator, which can simulate the physical laws of the real world with defined level of approximation, as well as methods and algorithms for collision detection in the virtual environment. Methods of representation of objects in the environment, due to which it is possible to detect collisions quickly, are considered. The collision control subsystem for the movement of two manipulators, controlled by a human operator, is simulated in the Unity environment, and its reaction speed is investigated.

Key words
Collision detection, control systems, modeling, manipulators, Unity.

Acknowledgements
The results were obtained within the framework of the state task of Russian Ministry of Education and Science FNRG-2022-0020 1021101316102-1-2.2.2 № 075-01623-22-01 « Development of a collaborative robot with an assisting two-armed anthropomorphic manipulation system for working in small spaces».

DOI
10.31776/RTCJ.10407

Bibliographic description
Fikov, M.G. and Varlashin, V.V. (2022). Investigation of the characteristics of the manipulators collision prevention system. Robotics and Technical Cybernetics, 10(4), pp.287-292.

UDC identifier:
004.896: 621.865

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