Collision Avoidance Control of Multi-link Robotic Manipulators with a Copy-type Master Device

the article discusses a problem of collision avoidance control (self-collision and collision with external objects) of two multi-link robotic manipulators with a copy-type master device. The control system implements the repetition of the manipulators movements formed by the copy-type master device (CTMD). Self-collisions occur either because of operator error, or as a result of a mismatch of the CTMD sensors, or because of the difference in the anthropomorphic characteristics of the operator and the parameters of the robot. The proposed collision avoidance method is based on a linear algebra approach and is implemented through a special control program. This program works in real-time and blocks movements that can lead to the collision of the manipulators. It is possible to test the control algorithm without connecting to the CTMD. The efficiency of the proposed method was tested on a simulator and on a real anthropomorphic dual-arm robot SAR-401.