On the Modeling and Simulation of Collision and Collision-Free Motion for Planar Robotic Arm

Manufacturing, service, research, exploration and many other areas of human activity require a lot of handling operations of a wide variety of objects, materials, parts, etc. The handling operations can be very simple and fuzzy or very complicated and precise. Robotic arms are the right tool to automate these operations and to facilitate the processes in almost of any area. At this stage, robotic arms, most of them known as manipulation robots, work successfully in many manufacturing areas. Usually, those areas are static and unchanging work environments, which allow the robotic arms to perform their operations according to advanced done programming. 

The next stage challenge for the robotic arms is their capability to work in considerably cluttered and changing environments that can influence their proper functioning. Besides precise execution of the desired operations, the next stage robotic arms must ensure safety functioning within their working space. In cases of dynamic and cluttered environments, the robotics arms have to adapt to unknown in advance situations. The most important case to consider is ensuring a safety work—namely, avoidance of collisions and accidents with the surrounding objects. 

The author’s purpose of this paper is to begin a research on problems of safety functioning of autonomous robotic mechanisms in various working environments.