2020/07/23 by Alexandre Coulombe, Coulombe, Alexandre, Hsiu-Chin Lin +1
Computer Science · Engineering · #Robotic Path Planning Algorithms #Robot Manipulation and Learning #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2007.12045
Collision detection and collision avoidance are essential components in these systems for safe human-robot interactions. Robotics systems that can work "out-of-the-box" without excessive amount of installation and calibration from the experts is highly ideal. For this, we propose a generic, high precision, collision detect system that only requires the unified robot description format (URDF) and is capable of running in real time. We extended the Gilbert-Johnson-Keerthi (GJK) algorithm by utilizing a geometrical approach to determine the distance between each rigid body in the environment and check for collisions. The proposed system's performance is shown by checking the self-collision of the KUKA LBR iiwa 7 R800 and the Mecademic Meca500. The performance is compared to the Flexible Collision Library (FCL).