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Conference Papers Year : 2022

Offline approach towards obstacle avoidance in collaborative robots

Abstract

Performance improvement in Human-Robot Collaboration is one of the objectives in collaborative robots. This improvement can be achieved through the correct obstacle avoidance planification of collision-free paths, focusing on terms of path continuity, final motion times and average speed of the end-effector. We propose an offline path planning approach considering an obstacle given an initial linear trajectory from pose A to pose B. By using ROS, MoveIt! and Rviz we generate three trajectories varying the sagitta of our equations for evaluation and determining the best performing trajectory. Results in simulations are compared with the actual motions using the UR10e cobot.
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Dates and versions

hal-03889904 , version 1 (09-12-2022)

Identifiers

  • HAL Id : hal-03889904 , version 1

Cite

Carlos Wilfrido Ponce Quiroga, T Raharijaona, Gabriel Abba. Offline approach towards obstacle avoidance in collaborative robots. 25e Congrès Français de Mécanique (CFM 2022), Association Française de Mécanique (AFM); Centrale Nantes; Université de Nantes; ENSAM d'Angers; Ecole Navale de Brest; Université de La Rochelle, Aug 2022, Nantes, France. ⟨hal-03889904⟩
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