Engineering Method of Pursuit-Evasion of Objects for Adaptive Control Tasks of Collaborative Robots

The object of study in this article is the "sharing robot (cobot)-human" system, the aim of the research is to ensure the absence of accidental contact between the cobot and the human, thereby guaranteeing the safety of their interaction within a shared workspace. A new approach is proposed for solving the pursuit–evasion problem based on an acceleration control law with variable coefficients governing the relative motion of two selected material points. A rule for one-parameter tuning of the coefficients to ensure the stability of the target motion is introduced. The tuning parameter is the natural frequency of a link described by a second-order linear differential equation with variable coefficients. The control of this parameter is derived from the condition of decreasing the angle function between the velocity vectors of the considered points, which is reduced to the solution of an algebraic inequality. Simulation results of the developed control algorithm are presented for the translational degrees of freedom of the KUKA KR-30-3 robot. The robot drive was selected based on a three-loop DC motor drive with position feedback, tuned to a modulus optimum within the framework of the principle of subordinate loop regulation.