Design of an obstacle and collision avoidance system for multi-robot manipulator coordination

• Main Author: Pung, Angeline Yang Yu
• Other Authors: Hu, Guoqiang
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2020
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/140255
• Institution: Nanyang Technological University

In this report, a simulation of an obstacle and collision avoidance system for manipulator was presented. The rest of the document is organized as follows: first, a brief background of project is given, then the theoretical aspects of robotics systems are explained. Next, analysis from research papers are discussed. Lastly, results are shown, and it ends with conclusion. The simulation was done via MATLAB using an industrial robot, Kinova Gen3. To achieve the simulation as accurately as possible, the theoretical elements of robotic systems elaborated were incorporated with the algorithm. An obstacle and collision avoidance system is especially relevant today since there has been rising trend of industrial robots to replace human labour. Hence, the replacement robot should be of a high efficiency with minimal faults. There are several methods of collision detection and path planning methods that will be discussed. The pros and cons of these methods will be analysed to ensure the relevance with today’s world. The report will also include challenges faced and recommendation for future improvements. Overall, this project has enhanced the author’s knowledge for robotics.