Abstract: The subject of research is the intellectual system for controlling the movement of the hand of an android robot in the presence of forbidden zones in the working space. The object of research is the automatic collision detection mechanism of the hand of an android robot, with obstacles at the level of virtual motion simulation. The authors examine in detail such aspects of the topic as determining the conditions of collisions based on the use of the area of allowed configurations and the synthesis of movements excluding the occurrence of dead ends in relation to the movement of the arm of an android robot. Particular attention is paid to the development of an analytical method for specifying the area of allowed configurations in the space of generalized coordinates in the presence of a previously known forbidden zone in the workspace. In this case, the space of generalized coordinates is given by the axes, in the direction of which they lay the angles defining the angular displacements in the rotational kinematic pairs. The research methodology is based on the calculation and analytical task of two-dimensional sections that define the area of allowed configurations. These sections are proposed to be specified using the sets of triangles. A special contribution of the authors to the study of the topic is the development of a generalized method for analytically specifying the area of allowed configurations. The obtained analytical dependences allow you to specify the area of allowed configurations, which is the knowledge base for intelligent control of the movement of the hand mechanism in a previously known external environment. The novelty of the research lies in the use of the area of allowed configurations in the synthesis of the trajectory in the space of generalized coordinates, which allows for the correction of the movement of the android robot arm in order to foresee and eliminate dead ends in the synthesis of movements along the velocity vector.

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.