Mutual collision avoidance method for collaborative robots

The invention provides a mutual collision avoidance method for collaborative robots, which comprises the following steps: acquiring position, speed and acceleration information of collaborative robots, and establishing a state space equation of the collaborative robots; establishing a specified performance function for collision avoidance of the collaborative robots; setting collision avoidance constraint conditions according to the three-dimensional space freedom degree of the collaborative robots; initializing a network communication topological graph of the collaborative robots; according to the constraint conditions and the specified performance function, performing deriving to obtain a difference value between an actual running track signal and the running path of a pilot robot and sub-robots, and calculating conversion error of a collaborative robot system; constructing a Lyapunov energy function of the collaborative robot system, and obtaining design parameter value ranges of avirtual controller, a con