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In addition to the workspace, which represents the region of all possible positions of only the end effector, it is also relevant to determine the work safety zone (WSZ), which represents a three-dimensional region that all links of the manipulator can occupy during motion. This area is of great importance for choosing the manipulator’s placement location, as well as the positioning of the frame and other auxiliary equipment, with the aim of preventing collisions. The article discusses algorithms for determining the WSZ. For parallel manipulators, the algorithm is based on defining the workspace using the solution of the inverse kinematics and expanding the covering set by considering the positions of all links. For serial manipulators, the algorithm involves mapping constraints from the input coordinate space to the link coordinate space using discrete enumeration and solving the forward kinematics problem. WSZs have been obtained for a parallel manipulator Delta and a serial AUBO i5 manipulator. The comparison conducted shows that the WSZ of the Delta manipulator making it more suitable for high-speed operations, whereas the AUBO i5 demonstrates greater flexibility and adaptability, allowing its use in tasks requiring a wide range of motions. Simulation results are presented, confirming the effectiveness of the proposed algorithms. The proposed approach makes it possible to determine the space that can be occupied by all parts of the manipulator, which may be important in the organization of robotic cells, sections and systems consisting of several manipulators.

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Algorithms for Determining the Work Safety Zone of Manipulators of Various Structures as Part of a Multi-robotic System

  • 会议论文

  • 发表日期：

    2025年

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  • Larisa Rybak,
  • Giuseppe Carbone,
  • Dmitry Malyshev,
  • Anna Nozdracheva,
  • Dmitry Dyakonov,
  • Vladislav Cherkasov

摘要

In addition to the workspace, which represents the region of all possible positions of only the end effector, it is also relevant to determine the work safety zone (WSZ), which represents a three-dimensional region that all links of the manipulator can occupy during motion. This area is of great importance for choosing the manipulator’s placement location, as well as the positioning of the frame and other auxiliary equipment, with the aim of preventing collisions. The article discusses algorithms for determining the WSZ. For parallel manipulators, the algorithm is based on defining the workspace using the solution of the inverse kinematics and expanding the covering set by considering the positions of all links. For serial manipulators, the algorithm involves mapping constraints from the input coordinate space to the link coordinate space using discrete enumeration and solving the forward kinematics problem. WSZs have been obtained for a parallel manipulator Delta and a serial AUBO i5 manipulator. The comparison conducted shows that the WSZ of the Delta manipulator making it more suitable for high-speed operations, whereas the AUBO i5 demonstrates greater flexibility and adaptability, allowing its use in tasks requiring a wide range of motions. Simulation results are presented, confirming the effectiveness of the proposed algorithms. The proposed approach makes it possible to determine the space that can be occupied by all parts of the manipulator, which may be important in the organization of robotic cells, sections and systems consisting of several manipulators.