A safety arc based collision avoidance algorithm of a two-arm robot manipulator

This work describes a new and simple concept, Safety Arc, for solvinty the collision avoidance problem of robot manipulators. The Safety Are is an arc-shaped set composed of the possible configuration points avoiding the aiven constraints in the configuration space. Both the motion constraints and.the collision constraint of a robot manipulator can he easily represented using this concept. So the Sqfety Arc can be used as a tool for the collision free motion planning and in addition the optimality can be introduced in selectinu the collision-free path from the safety Arc. Based on this concept, a method for transforming the problem of collision-free motion planning into a Sub-Optimal Collision Avoidance Problem(SOCA-P) with linear constraints is developed. The simplicity and effectiveness of the proposed method is demonstrated by considering the collision-free motion planning problem of two 2-d.o.f. planar robot manipulators.