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Proceedings Paper

Collison avoidance for automated inspection
Author(s): Michael Greenspan
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Paper Abstract

In certain automated inspection systems, computer controlled sensors are required to move arbitrarily close to the objects under inspection, whose geometries and positions may be unknown. There exists a potential for collisions which can cause damage to the sensor and the objects. A method based upon two representations is presented which ensures collision-free motions of the sensor and positioning apparatus. The sensed environment is modelled as a discrete volumetric grid called a voxel map, which is incrementally maintained as range data is acquired. The sensor and all moving attachments are modelled as sets of spheres. The method provides a conservative underestimate of the minimum distance between the surfaces of the sensor system and all workspace obstacles within a known error bound. The conditions are derived for which a continuous collision-free trajectory exists between two configurations. These are two operational modes where collision avoidance is useful. In direct teleoperation mode, the operator has joystick control over the position of the sensor, and potential collisions are detected and averted in real-time. In autonomous mode, the sensor path is planned automatically, and collision-free motions are generated by invoking the collision detection method within an enumerative search routine. The method has been implemented and tested using a scanning laser range camera as the sensor and a Puma 560 manipulator as the positioning apparatus.

Paper Details

Date Published: 9 January 1997
PDF: 12 pages
Proc. SPIE 2910, Rapid Product Development Technologies, (9 January 1997); doi: 10.1117/12.263335
Show Author Affiliations
Michael Greenspan, National Research Council Canada (Canada)


Published in SPIE Proceedings Vol. 2910:
Rapid Product Development Technologies
Pierre Boulanger, Editor(s)

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