DEVELOPMENT OF A PROGRAM FOR MODELING AND SIMULATING A COLLABORATIVE ROBOT WORKSPACE

The article presents the software development for modeling and simulating the workspace of a collaborative robot taking into account the presence of people. This is an important step in creating safe and efficient robotic systems within Industry 5.0 concept. The problem is posed by the need to ensure safety during the interaction of the robot with the operator, which is relevant for modern production processes with high human participation. The purpose of the study is to create a tool for dynamic modeling of the environment, capable of detecting people in the robot's workspace and avoiding potential collisions. In the process of the study, computer vision methods and image processing algorithms were applied to determine the location of a person in three-dimensional space, using libraries such as PyBullet and OpenCV. The main results of the work are experimental data confirming the effectiveness of the developed system in detecting objects and preventing collisions. The novelty of the research lies in the application of a potential field model that combines the repulsive force from a person and the gravity force to the target point, which allows adaptively adjusting the robot's trajectory. The practical significance of the work lies in increasing the safety and efficiency of collaborative robots in industrial conditions, which helps reduce risks for the operator. The scope of further research involves optimizing the algorithm for detecting people, taking into account changes in the environment, in particular, illumination, as well as the introduction of adaptive thresholds for object detection.