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Proceedings Paper

Collision avoidance during teleoperation using whole-arm proximity sensors coupled to a virtual environment
Author(s): Jim L. Novak; John T. Feddema; Nadine E. Miner; Sharon A. Stansfield
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Paper Abstract

This paper describes a collision avoidance system using Whole Arm Proximity (WHAP) sensors on an articulated robot arm. The capacitance-based sensors generate electric fields which completely encompass the robot arm and detect obstacles as they approach from any direction. The robot is moved through the workspace using a velocity command generated either by an operator through a force-sensing input device or a preprogrammed sequence of motions. The directional obstacle information gathered by the WHAP sensors is then used in a matrix column maximization algorithm that automatically selects the sensor closest to an obstacle during each robot controller cycle. The distance from this sensor to the obstacle is used to reduce the component of the command input velocity along the normal axis of the sensor, allowing graceful perturbation of the velocity command to prevent a collision.

Paper Details

Date Published: 21 December 1993
PDF: 8 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164891
Show Author Affiliations
Jim L. Novak, Sandia National Labs. (United States)
John T. Feddema, Sandia National Labs. (United States)
Nadine E. Miner, Sandia National Labs. (United States)
Sharon A. Stansfield, Sandia National Labs. (United States)


Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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