Architecture of a Collaborative Robotic Complex with an Intelligent Control System

The article is devoted to increasing the degree of safety of collaborative robotic systems, taking into account the non-determinism of human behavior in the robot's work area. It is proposed to use an intelligent control system to increase the degree of safety and expand the functionality of the complex. A sensor subsystem has been developed, including a layout of its elements. A functional diagram of a collaborative robotic complex with an intelligent control system has been developed. The functions of the main elements of the control system are determined. A software structure has been developed that takes into account the distribution of software modules among computing devices. The functions of each of the software modules and the types of information transferred between the software modules are described.