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arXiv · 2007.12045

High Precision Real Time Collision Detection

Alexandre Coulombe·Hsiu-Chin Lin
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Abstract

Collision detection and collision avoidance are essential components in these systems for safe human-robot interactions. Robotics systems that can work "out-of-the-box" without excessive amount of installation and calibration from the experts is highly ideal. For this, we propose a generic, high precision, collision detect system that only requires the unified robot description format (URDF) and is capable of running in real time. We extended the Gilbert-Johnson-Keerthi (GJK) algorithm by utilizing a geometrical approach to determine the distance between each rigid body in the environment and check for collisions. The proposed system's performance is shown by checking the self-collision of the KUKA LBR iiwa 7 R800 and the Mecademic Meca500. The performance is compared to the Flexible Collision Library (FCL).

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Alexandre Coulombe, Hsiu-Chin Lin. 2020-07-23. High Precision Real Time Collision Detection. https://arxiv.org/abs/2007.12045

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