The method for predicting self-collisions of multi-link manipulators

The article proposes a method for solving the problem of predicting the self-collision of multi-link manipulators with their agreed work. The method is based on the analysis of projections of manipulator links on coordinate planes. The proposed approach will make it possible to solve the problem simple and suitable for the online prediction mode of critical positions of manipulators, possible self-collision, with their coordinated work. The developed algorithm was tested when constructing the control of an anthropomorphic robot SAR-400.