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 immediate object of studies is the module for automatic detection for the manipulator mechanism collisions with the prohibited zones, which is used in intellectual robot guidance. The object of studies involves geometrical analysis characterizing the position of the manipulator mechanism and the known prohibited zones.  The authors provide detailed analysis of analytical value of the allowed configurations sphere within the space of generalized coordinates with two prohibited zones present in the working space of a manipulator. The generalized coordinates space is provided for by the axes of the rectangular coordinates system based upon the directions of angles  providing for the movements in the turning pairs.  It is offered to use the sufficient condition for the collisions based upon the usage within the space of allowed configurations. All of the allowed configurations within the generalized coordinates space are reflected by a geometrical object.  The said geometrical object is provided for via analytical means with the use of several kinematic surfaces limiting it. The main result of the study is shorter calculation period for test assignments regarding virtual modeling for the manipulator movement of a "Komodo dragon" mobile robot with the use of the detection algorithm for collisions between the mechanism and the environment. The special input of the authors into the issue involves the development of the knowledge database assignment, which is used for intellectual guidance for manipulator motion in the familiar environment.  The novelty of the study is due to the development of the more productive method of information analysis on the position of manipulator mechanism and prohibited zones based upon the analytical dependencies, which are used to establish the allowed configuration space. The use of this space  for the trajectory synthesis within the generalized coordinates space allows one to correct the manipulator motion in order to predict and to exclude the dead-end situations when synthesizing the velocity vector movement.