<?xml version="1.0" encoding="UTF-8"?> <article key="pdf/10001430" mdate="2015-05-03 00:00:00"> <author>Zhang Xiaodong and Tang Zixin and Liu Xin</author> <title>Realtime Detection of Space Manipulator Selfcollision</title> <pages>849 - 853</pages> <year>2015</year> <volume>9</volume> <number>5</number> <journal>International Journal of Mechanical and Mechatronics Engineering</journal> <ee>https://publications.waset.org/pdf/10001430</ee> <url>https://publications.waset.org/vol/101</url> <publisher>World Academy of Science, Engineering and Technology</publisher> <abstract>In order to avoid selfcollision of space manipulators during operation process, a realtime detection method is proposed in this paper. The manipulator is fitted into a cylinderenveloping surface, and then, a kind of detection algorithm of collision between cylinders is analyzed. The collision model of space manipulator selflinks can be detected by using this algorithm in realtime detection during the operation process. To ensure security of the operation, a safety threshold is designed. The simulation and experiment results verify the effectiveness of the proposed algorithm for a 7DOF space manipulator.</abstract> <index>Open Science Index 101, 2015</index> </article>