Analysis of the Interaction of Robots as Part of a Robotic System for Biomaterial Aliquotation

The paper considers the problem of interaction between robots with parallel and serial structures that are part of a robotic system for aliquoting biomaterials. An approach to selecting the relative position and limiting the ranges of movement of manipulators working nearby to avoid collisions is presented. The elimination of collisions is ensured by the absence of intersections between work safety zones (a 3D space within which all manipulator links can be located for a given range of robot positions). Universal algorithms for determining work safety zones were developed, including for an individual manipulator and taking into account the work safety zone of the manipulator installed nearby and other obstacles. An analysis of the workspace and safety zones was performed, taking into account both individual limitations and limitations associated with collaboration within the system. The issue of adapting control algorithms of the robotic system to external disturbances in order to minimize the time spent on executing a given trajectory was addressed. In particular, the meeting point (interaction) of robots solving the problem of biomaterial aliquotation was optimized depending on the workload level of each robot. Experiments were carried out to verify the developed approaches.