Investigation of the characteristics of the manipulators collision prevention system

The paper considers the problem of detecting and preventing collisions of manipulators with each other and with segments of the robot itself in a virtual environment. The proposed solution is to use simulator, which can simulate the physical laws of the real world with defined level of approximation, as well as methods and algorithms for collision detection in the virtual environment. Methods of representation of objects in the environment, due to which it is possible to detect collisions quickly, are considered. The collision control subsystem for the movement of two manipulators, controlled by a human operator, is simulated in the Unity environment, and its reaction speed is investigated.