Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

Diane Bury; Jean Baptiste Izard; Marc Gouttefarde; Florent Lamiraux

doi:10.1109/IROS40897.2019.8967836

Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

Diane Bury, Jean Baptiste Izard, Marc Gouttefarde, Florent Lamiraux

TECNALIA Research & Innovation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Citations (Scopus)

Abstract

A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bound on their relative velocity and a lower bound on the distance between the bodies are computed and used to validate a portion of the path. These computations are done repeatedly until a collision is found or the path is validated. The method is integrated within the Humanoid Path Planner (HPP) software, tested with the cable-driven parallel robot CoGiRo, and compared to a discretized validation method.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	8097-8102
Number of pages	6
ISBN (Electronic)	9781728140049
DOIs	https://doi.org/10.1109/IROS40897.2019.8967836
Publication status	Published - Nov 2019
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China Duration: 3 Nov 2019 → 8 Nov 2019

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/Territory	China
City	Macau
Period	3/11/19 → 8/11/19

Access to Document

10.1109/IROS40897.2019.8967836

Cite this

Bury, D., Izard, J. B., Gouttefarde, M., & Lamiraux, F. (2019). Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 8097-8102). Article 8967836 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8967836

Bury, Diane ; Izard, Jean Baptiste ; Gouttefarde, Marc et al. / Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 8097-8102 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot",

abstract = "A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bound on their relative velocity and a lower bound on the distance between the bodies are computed and used to validate a portion of the path. These computations are done repeatedly until a collision is found or the path is validated. The method is integrated within the Humanoid Path Planner (HPP) software, tested with the cable-driven parallel robot CoGiRo, and compared to a discretized validation method.",

author = "Diane Bury and Izard, {Jean Baptiste} and Marc Gouttefarde and Florent Lamiraux",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 ; Conference date: 03-11-2019 Through 08-11-2019",

year = "2019",

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doi = "10.1109/IROS40897.2019.8967836",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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Bury, D, Izard, JB, Gouttefarde, M & Lamiraux, F 2019, Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019., 8967836, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 8097-8102, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, China, 3/11/19. https://doi.org/10.1109/IROS40897.2019.8967836

Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot. / Bury, Diane; Izard, Jean Baptiste; Gouttefarde, Marc et al.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 8097-8102 8967836 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bound on their relative velocity and a lower bound on the distance between the bodies are computed and used to validate a portion of the path. These computations are done repeatedly until a collision is found or the path is validated. The method is integrated within the Humanoid Path Planner (HPP) software, tested with the cable-driven parallel robot CoGiRo, and compared to a discretized validation method.

AB - A continuous collision checking method for a cable-driven parallel robot with an embarked robotic arm is proposed in this paper. The method aims at validating paths by checking for collisions between any pair of robot bodies (mobile platform, cables, and arm links). For a pair of bodies, an upper bound on their relative velocity and a lower bound on the distance between the bodies are computed and used to validate a portion of the path. These computations are done repeatedly until a collision is found or the path is validated. The method is integrated within the Humanoid Path Planner (HPP) software, tested with the cable-driven parallel robot CoGiRo, and compared to a discretized validation method.

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M3 - Conference contribution

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Bury D, Izard JB, Gouttefarde M, Lamiraux F. Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 8097-8102. 8967836. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS40897.2019.8967836

Continuous Collision Detection for a Robotic Arm Mounted on a Cable-Driven Parallel Robot

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