Collision avoidance of two manipulators using RT-Middleware

The purpose of this research is to propose and to implement the collision avoidance method of two manipulators which can be applied to factory using RT-middleware. In fact most of the studies concerning collision avoidance method of manipulators is hardly applied to the factory because these methods...

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Bibliographic Details
Published in2011 IEEE/SICE International Symposium on System Integration pp. 1031 - 1036
Main Authors Jianing Zhou, Nagase, K., Kimura, S., Aiyama, Y.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.12.2011
Subjects
Collision avoidance
Computer architecture
Joints
Manipulators
Silicon
Software
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ISBN9781457715235
1457715236
DOI10.1109/SII.2011.6147591

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Summary:The purpose of this research is to propose and to implement the collision avoidance method of two manipulators which can be applied to factory using RT-middleware. In fact most of the studies concerning collision avoidance method of manipulators is hardly applied to the factory because these methods are restricted to specific environment and operations. In this paper, we use RT-middleware that treats each manipulator as a module for improvement of development efficiency of system. Also we developed a management module that can arrange each manipulator module to solve the problem of collision with two manipulators. In addition, we evaluated the module by the simulation, and the effectiveness is displayed.
ISBN:9781457715235
1457715236
DOI:10.1109/SII.2011.6147591