%0 Journal Article
	%A Zhang Xiaodong and  Tang Zixin and  Liu Xin
	%D 2015
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 101, 2015
	%T Real-time Detection of Space Manipulator Self-collision
	%U https://publications.waset.org/pdf/10001430
	%V 101
	%X 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
	%P 849 - 853