Generalized functioning algorithm and conceptual description of the main models of a synergetic system based on a collaborative robot

The paper considers a typical collaborative technological process of electric arc welding of steel parts, supplemented by a sensor-effector system to achieve a synergistic effect in the joint work of a robot and person. In order to increase the efficiency of the process under consideration and form a unified approach to the construction of social-cyber-physical systems, a set of interrelated conceptual models of collaborative process systems is proposed. On the basis of the proposed models, a generalized algorithm for the formation of the spatial displacement of the effector of a collaborative robot in a non-deterministic environment has been developed.