Abstract: The subject of the research is the automatic collision detection mechanism of the manipulator mechanism, with restricted zones used in the knowledge base of intelligent robot control systems. The object of the study is the area of allowed configurations defined in the space of generalized coordinates. The authors consider in detail such aspects as the parametric specification of the area of allowed configurations in the presence of forbidden zones in the working space of the manipulator mechanism. It is proposed to use a sufficient condition for determining the collisions of the manipulator mechanism and the forbidden zones, based on the use of the area of allowed configurations. The research methodology is based on the study of sections defining the shape and position of the region of allowed configurations. All allowed configurations in the space of generalized coordinates are displayed as a geometric object. This geometric object is specified in an analytical way by using several kinematic surfaces that limit it. The simulation results are given, which allowed us to develop a parametric method for specifying a set of sections that define the shape and position of the region of allowed configurations for different positions of the forbidden zones. The main conclusion of the study is to reduce the calculation time of test tasks related to virtual modeling of the movement of the Varan mobile robot arm mechanism using the developed mechanism for collision detection of the mechanism with the environment. A special contribution of the authors to the study of the topic is the development of a parametric method for defining the area of allowed configurations used in the intelligent control of the motion of the manipulator mechanism in a previously known external environment. The novelty of the research lies in the development of a more productive method for analyzing information on the position of the manipulator mechanism and forbidden zones on the basis of the obtained analytical dependencies.

Abstract: The subject of research is the intellectual system for controlling the movement of the hand of an android robot in the presence of forbidden zones in the working space. The object of research is the automatic collision detection mechanism of the hand of an android robot, with obstacles at the level of virtual motion simulation. The authors examine in detail such aspects of the topic as determining the conditions of collisions based on the use of the area of allowed configurations and the synthesis of movements excluding the occurrence of dead ends in relation to the movement of the arm of an android robot. Particular attention is paid to the development of an analytical method for specifying the area of allowed configurations in the space of generalized coordinates in the presence of a previously known forbidden zone in the workspace. In this case, the space of generalized coordinates is given by the axes, in the direction of which they lay the angles defining the angular displacements in the rotational kinematic pairs. The research methodology is based on the calculation and analytical task of two-dimensional sections that define the area of allowed configurations. These sections are proposed to be specified using the sets of triangles. A special contribution of the authors to the study of the topic is the development of a generalized method for analytically specifying the area of allowed configurations. The obtained analytical dependences allow you to specify the area of allowed configurations, which is the knowledge base for intelligent control of the movement of the hand mechanism in a previously known external environment. The novelty of the research lies in the use of the area of allowed configurations in the synthesis of the trajectory in the space of generalized coordinates, which allows for the correction of the movement of the android robot arm in order to foresee and eliminate dead ends in the synthesis of movements along the velocity vector.