Industrial manipulators collision detection algorithms

In this work we present some algorithms for detecting collisions between two robots. Firstly we estimate robot trajectories given via points and workcell configuration, then we develop the actual algorithm to detect collisions, providing multiple models of each link which differ in reliability and simplicity. The algorithm is then optimized for anthropomorphic robots, in order to be performed on-line. Finally some results are summarized, which show the effective behaviour in worst cases