%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 manipulator. %P 849 - 853