The Predicting Collision with External Obstacles of Dual-Arm Multi-Link Robot

The article proposes a method for solving the external obstacles predicting problem of dual-arm multi-link robot. The method is based on the linear algebra approach by considering the Schwartz inequality. The proposed approach will allow the prediction of possible collision of the external obstacles and robot's manipulators. The application of the proposed approach is possible when implementing robot control based on the “Programming by demonstration” approach in case of wrong actions of the operator (“teacher”), leading to a self-collision of manipulators. An example of using the presented approach is considered. The developed algorithm was tested when constructing the control of an anthropomorphic robot SAR-401 and of the simulator of underwater dual-arm robot with anthropomorphic manipulators.