@article{(Open Science Index):https://publications.waset.org/pdf/10001430,
	  title     = {Real-time Detection of Space Manipulator Self-collision},
	  author    = {Zhang Xiaodong and  Tang Zixin and  Liu Xin},
	  country	= {},
	  institution	= {},
	  abstract     = {In order to avoid self-collision of space manipulators
during operation process, a real-time detection method is proposed in
this paper. The manipulator is fitted into a cylinder-enveloping
surface, and then, a kind of detection algorithm of collision between
cylinders is analyzed. The collision model of space manipulator
self-links can be detected by using this algorithm in real-time 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 7-DOF space
	    journal   = {International Journal of Mechanical and Mechatronics Engineering},
	  volume    = {9},
	  number    = {5},
	  year      = {2015},
	  pages     = {849 - 853},
	  ee        = {https://publications.waset.org/pdf/10001430},
	  url   	= {https://publications.waset.org/vol/101},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 101, 2015},