Planning collision-free and occlusion-free paths for industrial manipulators with eye-to-hand configuration

Simon Léonard, Elizabeth A. Croft, James J. Little

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

5 Citations (Scopus)


This paper presents a motion planning algorithm for industrial manipulators with the simultaneous constraints of avoiding collisions and avoiding the occlusion of specified pixellated regions of an eye-to-hand camera. The system uses a probabilistic roadmap to satisfy the constraints imposed by the command interface of typical industrial manipulators and uses dynamic collision checking to ensure collision-free motion. In the context of a task monitored by a camera, we enhance a probabilistic roadmap with a dynamic occlusion checking algorithm that is able to determine which pixels of the camera are occluded by the robot during each motion segment. The occlusion algorithm is formulated as collision algorithm where the field of view of the camera is represented as a quadtree of frustums. The proposed algorithm is demonstrated in industrial bin picking simulations where the gripper must not occlude the targeted object throughout the task.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)9781424438044
Publication statusPublished - 11 Dec 2009
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2009 - St. Louis, United States of America
Duration: 11 Oct 200915 Oct 2009 (Proceedings)


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2009
Abbreviated titleIROS 2009
Country/TerritoryUnited States of America
CitySt. Louis
Internet address

Cite this