Abstract
The following quote was obtained by the news editors from the background informa tion supplied bythe inventors: ““Field“The present disclosure relates generally to a system and method for providing c ollision avoidancebetween objects and, more particularly, to a system and metho d for providing deep collision avoidancebetween objects in a robotic system tha t calculates escape vectors using Minkowski balls.“Discussion of the Related Art“The use of industrial robots to perform a wide range of manufacturing, assembly and material movementoperations is well known. One such application is a pick- and-place operation, where a robot picks upindividual parts and places each par t at a prescribed location for further processing or packaging. Examplesof pick -and-place operations include picking a part from a bin and placing the part on a conveyor whereit is taken for a next operation, and picking a part from a bin and placing the part in a machine toolfixture where the part is machined, and then subsequently removing the part from the machine tool andplacing the machin ed part on a conveyor. A vision system including one or more cameras is typicall yused to identify the position and orientation of individual parts in the bin. Then, a specific robotic graspis identified to be used on a selected part, wher e the grasp may be chosen from a pre-computed databaseof grasps that have been generated for the particular part geometry and the particular gripper geometry.However, movement of the robot to perform an optimized grasp for a selected part may cause a collisionwith another object, where the robot is unable to escape from the collision.
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