Modeling algorithm to avoid collisions in robotic collaborative systems

M.A. Shereuzhev, D.I. Arabadzhiev, I.V. Semyannikov

Abstract. In modern collaborative and industrial robotics, the issue of safety of human-robot interaction is one of the main problems. Due to the high mass and high-speed operating modes, a collision between the manipulator and the operator often leads to injury to a person. The aim of the work is to develop and test an algorithm to avoid collision for robots in a dynamic environment. The simulation was carried out in the Webots simulator using the virtual force method. The algorithm has shown high efficiency and reliability, maintaining a safe distance between a robot and a person. The developed system to avoid collision is suitable for industrial environments.

Keywords: collision prevention, safety, collaborative robot, Webots

For citation. Shereuzhev M.A., Arabadzhiev D.I., Semyannikov I.V.Modeling algorithm to avoid collisions in robotic collaborative systems. News of the Kabardino-Balkarian Scientific Center of RAS. 2024. Vol. 26. No. 6. Pp. 67–81. DOI: 10.35330/1991-6639-2024-26-6-67-81