Development of collision avoidance control for tele-operated dual robotic arm

Abstract

This study presents the development of collision avoidance control for tele-operated dual robotic arm. The main aim of this project was to develop collision avoidance control to minimize the collision in human robot interaction. In absence of work cell mapping, collision checking in tele-operated robotic arm is commonly performed based on the motor current or torque. However, the collision checking based on motor current or torque cannot predict the collision. To overcome this issue collision avoidance based on proximity sensor and collision checking based on the unified robot description file are presented in this thesis. Test results obtained from collision checking using sonar sensors are presented. The findings suggest that the performance of the collision avoidance control is effective in minimizing risk of collision in tele-operation.