Fuzzy collision avoidance for industrial robots

In advanced robotics, there is still a strong need for a fast reactive collision avoidance computable in realtime in order to prevent the robot from hazardous situations during motion. Most of these situations occur due to unforeseen events (e.g. collision objects entering the workspace accidently) or incorrect remote operation (e.g. scenery misinterpretation during teleoperation). Handling of collision conflicts implies a sensor-based collision prediction and a fast strategy to resolve the conflict. Advances solutions do not cause simple blockades to prevent damage, but recalculate actual paths on-line and at the same time intend to reach preplanned goal positions on deviation paths without any time-out.