Paper Title
Collision Detection for Robotic Motions using Configuration Space

Abstract
Robotic manipulators have become more and more popular in industrial automations. To implement robot motions on automations can be done easily by computer programming. However, the safety issue for robot motions in a workspace is very important in factories. If the robotic arm collides with the peripheral devices, it damages the robot itself and the collided devices. This research proposed a fast detection method to check whether the robot arms collide with the peripheral devices, using Configuration space. The major work for it includes Oriented Bounding Box modeling and Separating Axis Theorem for determining the object intersections. A loop-up table was built and stores 1 and 0 for object-intersected areas and the intersection-free areas, respectively. To check whether the robotic arms collide with obstacles, one just accesses the look-up table with robotic joint angles for the value either 1 or 0. If the value returns 1, the robotic arms collide with an obstacle. On the other hand, if the value returns 0, it’s collision-free. The experimental result shows the checking time for collision detection is around 0.01ms in average, which is much less than the sampling time requirement for most of the robotic motion control applications. Keywords - Collision Detection, Configuration space, Separating Axis Theorem.