Collision Avoidance Method for End Effectors of Industrial Robots with Overlapping Workspaces

This paper introduces a method of collision avoidance for end effectors of industrial robots with overlapping workspaces. This method allows for the collision-free movement of end effectors without information about obstacles in the workspaces of the robots and the use of additional sensors. This is provided by analyzing movement programs. During the analysis, the groups of motion program points will be obtained, in which end effectors are located closer than a set distance. Then, during the execution of the programs, end effector locations are controlled in selected groups of points to prevent collisions. The simulation in Fanuc Roboguide environment confirmed the effectiveness of the developed method.