A method and system for cooperative obstacle avoidance by multiple robotic arms

By dynamically updating the joint angles and speed parameters of the robotic arm, combined with the collision time buffer and risk level, the obstacle avoidance speed is dynamically adjusted, solving the problems of collision and calculation time in multi-robotic arm obstacle avoidance, and achieving efficient and safe obstacle avoidance.

CN122125703APending Publication Date: 2026-06-02NAT INST OF ADVANCED MEDICAL DEVICES SHENZHEN
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NAT INST OF ADVANCED MEDICAL DEVICES SHENZHEN
Filing Date
2026-03-24
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

Traditional multi-robotic arm obstacle avoidance methods are overly conservative and frequently stop erroneously during low-speed interactions, and are prone to collisions during high-speed movements. Furthermore, path planning calculations are time-consuming, which cannot meet the requirements for real-time obstacle avoidance and affects operational efficiency and smoothness.

Method used

Based on the dynamic update of the joint angles of the robotic arm system, the minimum geometric distance and minimum collision time of potential collision pairs are determined. Combined with the inherent delay and braking time, an obstacle avoidance adjustment speed is generated, and the obstacle avoidance speed of the robotic arm is dynamically adjusted through a risk level modulation strategy.

Benefits of technology

It achieves efficient and reliable obstacle avoidance in multi-robotic arm collaborative scenarios, ensuring operational safety, maintaining smooth motion and task continuity, and reducing computational load to meet rapid response requirements.

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Abstract

This application provides a method and system for cooperative obstacle avoidance by multiple robotic arms, relating to the field of data processing technology. Based on the dynamic update of the joint angles of the robotic arm system, the minimum geometric distance between the nearest point pairs of potential collision pairs in the global collision pair set is determined. Based on the velocity parameters of the nearest point pairs corresponding to each potential collision pair in the world coordinate system, the minimum collision time of the potential collision pair is determined. Furthermore, combining the inherent delay time and the braking time of the potential collision pair under the corresponding joint constraints, the time buffer of the potential collision pair is determined. Based on the time buffer of each potential collision pair, the critical collision pairs in the robotic arm system, as well as the corresponding robotic arms and risk levels, are determined. Based on the speed modulation strategy of the risk level, the obstacle avoidance adjustment speed of the robotic arm corresponding to the critical collision pair is generated. Thus, while ensuring operational safety, motion smoothness and task continuity are maintained, meeting the requirements for rapid response.
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