Somrak Petchartee creator Yulu, Qi Chairperson Manukid Parnichkun Examination Committee Batanov, Dentcho N. Examination Committee Royal Thai Government Scholarship donor text series technical report th Bangkok Asian Institute of Technology 1999 continuing eng 174 p. This study addresses the application of robot to cooperate together. The use of two or more robots in a common workspace is essential to enhance the utilization of robots, increase productivity, and improve the versatility of potential applications. If two or more robots are used in a common workspace, they became obstacles together. Therefore, motion planning must include detection and avoidance of collisions between them. The focus of this thesis is on collision-free motion of three robot arms in common workspace. A collision-free motion is obtained by detecting collisions along the straight-line trajectories of the robots and then replanning the paths and I or trajectories of one or both of the robots to avoid the collision. In this thesis, a novel approach to collision detection is presented and the techniques to avoid collisions are briefly discussed. Collisions are restricted to be among three robots, which correspond to the upper links of CRS-A255 manipulators. A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology Thesis (M.Eng.) - Asian Institute of Technology, 1999 Robots Kinematics Asian Institute of Technology. http://203.159.5.9/ait-thesis/detail.php?q=B12702 http://203.159.5.9/ait-thesis/detail.php?q=B12702 100500 20260818085143.0