Planning and optimization of collaborative robot motions for collision resolution in a limited operating space

The paper presents and analyzes an algorithm for collision avoidance in confined spaces based on trajectory and con-tour control principles. This algorithm aims to optimize energy efficiency and productivity through the use of specific criteria. The original solution is compared to two universal algorithms: MRRT and CHOMP. The study demonstrates the advantages of the new algorithm when applied in a limited space. The findings of the research are summarized, and recommendations are made for the development of a collaborative robotic management system. This system would classify different parts of a technological process and identify the potential for using the proposed algorithm in confined areas.