A FAST CONTROL METHOD FOR COLLISION AVOIDANCE OF INDUSTRIAL ROBOTS

For effective application of two or more robots in flexible manufacturing systems and in automatic assembly guided automatic collision avoidance is an important and in spite of many applications so far an unsolved problem. The basis is unconstrained path control of each robot controlled e.g. by optical sensors in connection with different priority levels assigned to the robots. Interative, time-consuming hierarchical control methods are not applicable due to the complexity of this task and to real-time constraints. The application of various hierarchical decision strategies in connection with extremely time-efficient evaluation of decision tables is presented as a new and successful approach. This control method is based on a suitable description of the actual possible collision spaces.

• Supplemental Notes:
  • ISATA 84, "In Pursuit of Technical Excellence". Proceedings Volume 2. International Symposium on Automotive Technology and Automation with particular reference to Vehicle Management Systems and Flexible Manufacturing Systems, Milan, Italy 24-28 September 1984.
• Corporate Authors:

  Automotive Automotion Limited

  42 Lloyd Park Avenue
  Croydon CRO 5SB, Surrey,   England 

  Alfa Romeo Auto SpA

  Milan,   Italy 
• Authors:
  • Freund, E
  • Hoyer, H
• Publication Date: 1984

Media Info

• Features: Figures; References;
• Pagination: 17 p.

Subject/Index Terms

• TRT Terms: Assembly lines; Automobile industry; Control systems; Crash avoidance systems; Manufacturing; Optical systems; Robots
• Old TRIS Terms: Automobile assembly
• Subject Areas: Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 00399980
• Record Type: Publication
• Source Agency: National Highway Traffic Safety Administration
• Report/Paper Numbers: ISATA 84106, HS-038 520
• Files: HSL, USDOT
• Created Date: Nov 30 1985 12:00AM