Self-Collision Detection & Avoidance Algorithm for a Robot Manipulator

139 Abstract— A self-collision algorithm of two arms has been developed for a developed dual arm robot manipulator. Because the developed dual arm robot is supposed to do a job of complex task which needs cooperative motion of two arms. In this complex task, self-collision of two arms can occur. In this paper, developed self-collision avoidance algorithm to prevent the limbs of the dual arm robot from colliding to each other will be introduced. The developed dual arm robot manipulator would be much safe in the situation of self-collision caused by wrong teaching and a breakdown of controller and etc.