Using Elastic Bands for Collision Avoidance in Collaborative Robotics
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F22%3A10250701" target="_blank" >RIV/61989100:27230/22:10250701 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ACCESS.2022.3212407" target="_blank" >https://doi.org/10.1109/ACCESS.2022.3212407</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ACCESS.2022.3212407" target="_blank" >10.1109/ACCESS.2022.3212407</a>
Alternative languages
Result language
angličtina
Original language name
Using Elastic Bands for Collision Avoidance in Collaborative Robotics
Original language description
The paper presents a new version of the existing elastic band algorithm used for path finding, with application in the field of collaborative robotics and point-to-point movements. The algorithm places control points on the path and dynamically modifies the position of these control points in reaction to any obstacles located or moving in the workspace. The control points are updated in the robot space (TCP space), obstacles are represented by a set of grid-aligned voxels acquired by a camera system. Repulsive forces are created between the obstacles and the robot body (represented by a set of points covering evenly the surface of individual links) and transferred to the locations of the elastic band control points. The method is computationally effective and provides a smooth and length-optimal path while considering collisions in a more accurate manner than traditional usage of simple bounding volumes. The dynamic iterative updating of elastic band provides a clear principle for modification of the trajectory even close to the actual location of the robot as it is following the trajectory. The algorithm is verified on a set of practical experiments made on a physical UR3 robot with simulated obstacles, and the results are also compared to other commonly used methods for dynamic obstacle avoidance.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: A Research Platform focused on Industry 4.0 and Robotics in Ostrava Agglomeration</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Access
ISSN
2169-3536
e-ISSN
2169-3536
Volume of the periodical
10
Issue of the periodical within the volume
10
Country of publishing house
US - UNITED STATES
Number of pages
16
Pages from-to
106972-106987
UT code for WoS article
000866430600001
EID of the result in the Scopus database
2-s2.0-85139827553