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
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Information about the author
Madin A. Shereuzhev, Candidate of Engineering Sciences, Junior Research at the Center for
Cognitive Technologies and Machine Vision of Moscow State University of Technology STANKIN;
127055, Russia, Moscow, 1 Vadkovsky lane;
Senior Teacher at the Department SM7 Robotic systems and mechatronics, Moscow State Technical
University named after N.E. Bauman;
105005, Russia, Moscow, 2nd Baumanskaya street 5, bld. 1;
shereuzhev@bmstu.ru, ORCID: https://orcid.org/0000-0003-2352-992Х, SPIN-code: 1734-9056;
Denis I. Arabadzhiev, Engineer at the Center for Cognitive Technologies and Machine Vision of
Moscow State University of Technology STANKIN;
127055, Russia, Moscow, 1 Vadkovsky lane;
Postgraduate Student at the Department SM7 Robotic systems and mechatronics, Moscow State
Technical University named after N.E. Bauman;
105005, Russia, Moscow, 2nd Baumanskaya street 5, bld. 1;
denisarabadzhiev13@gmail.com, SPIN-code: 7438-1760
Ivan V. Semyannikov, Engineer of Student Robotics Office of Moscow State University of
Technology STANKIN;
127055, Russia, Moscow, 1 Vadkovsky lane;
Master Student at the Department SM7 Robotic systems and mechatronics, Moscow State Technical
University named after N.E. Bauman;
105005, Russia, Moscow, 2nd Baumanskaya street 5, bld. 1;
semyannikoviv@student.bmstu.ru