@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 manipulator.}, 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}, }