Development of a model for synchronizing the operation of collaborative robotic manipulators in HRC scenarios

Authors

  • Igor Nevliudov Kharkiv National University of Radio Electronics
  • Vladyslav Yevsieiev Kharkiv National University of Radio Electronics
  • Svitlana Maksymova Kharkiv National University of Radio Electronics
  • Oleksandr Pashchenko Kharkiv National University of Radio Electronics
  • Viktor Kosenko Kharkiv National University of Radio Electronics

DOI:

https://doi.org/10.30837/2522-9818.2026.2.214

Keywords:

collaborative robotic manipulators, motion synchronization, HRC scenarios, decentralized control, consensus algorithm, safety potential fields, Jacobian pseudoinverse, Industry 5.0.

Abstract

This article examines the problem of synchronizing the operation of a group of collaborative robots in a shared workspace with humans, in light of modern requirements for human-centered manufacturing and the Industry 5.0 concept. The relevance of the research stems from the need to ensure coordinated movement of multiple robots while adhering to strict safety constraints in HRC scenarios, where traditional centralized approaches do not guarantee sufficient reliability and scalability. The objective of this work is to develop a mathematical model for the synchronized control of collaborative manipulators, taking into account mutual coordination, tracking of a shared trajectory, and active avoidance of dangerous proximity to humans and between robots. The subject of the study is decentralized synchronization laws in the problem space with projection into joint space and the use of potential safety fields. The work uses methods of mathematical modeling of manipulator dynamics based on Euler–Lagrange equations, consensus control methods, pseudo-inversion of the Jacobian matrix, fourth-order Runge–Kutta numerical integration methods, and methods for analyzing safety metrics. The objectives of the study are to formalize the laws of consensus control in the problem space, integrate safety potential fields, and perform numerical validation of the model for a group of manipulators in a shared workspace. Modeling results for a group of three two-link planar manipulators showed the formation of coordinated trajectories with a reduction in characteristic oscillations and stabilization of dynamics; however, the average tracking error of the common trajectory remains at 0.38–0.40 m. An analysis of minimum robot-to-robot and robot-to-human distances confirmed the effectiveness of potential barriers in steady-state operation, but revealed dangerous gaps in transitional sections. It is concluded that the proposed model ensures stable synchronization and a basic level of safety, but to guarantee compliance with safety margins throughout the entire time interval, it is advisable to switch to rigid barrier constraints such as CBF and task-priority control schemes.

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Author Biographies

Igor Nevliudov, Kharkiv National University of Radio Electronics

Doctor of Technical Sciences, Professor, Head of the Computer-Integrated Technologies, Automation, Robotics and Safety Engineering Department

Vladyslav Yevsieiev, Kharkiv National University of Radio Electronics

Doctor of Technical Sciences, Professor, Professor of the Computer-Integrated Technologies, Automation, Robotics and Safety Engineering Department

Svitlana Maksymova, Kharkiv National University of Radio Electronics

Candidate of Technical Sciences, Associate Professor,  Associate Professor of the Computer-Integrated Technologies, Automation, Robotics and Safety Engineering Department

Oleksandr Pashchenko, Kharkiv National University of Radio Electronics

Postgraduate Student of the Computer-Integrated Technologies, Automation, Robotics and Safety Engineering Department

Viktor Kosenko, Kharkiv National University of Radio Electronics

Doctor of Technical Sciences, Professor, National University "Yuri Kondratyuk Poltava Polytechnic", Professor of the Automation, Electronic and Telecommunication Department, Poltava, Kharkiv National University of Radio Electronics, Professor of the Computer Integrated Technologies, Automation, Robotics and Safety Engineering Department

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Published

2026-06-27

How to Cite

Nevliudov, I., Yevsieiev, V., Maksymova, S., Pashchenko, O. and Kosenko, V. (2026) “Development of a model for synchronizing the operation of collaborative robotic manipulators in HRC scenarios”, INNOVATIVE TECHNOLOGIES AND SCIENTIFIC SOLUTIONS FOR INDUSTRIES, (2(36), pp. 214–226. doi: 10.30837/2522-9818.2026.2.214.

Issue

No. 2(36) (2026): Innovative Technologies and Scientific Solutions for Industries

Section

ENGINEERING & INDUSTRIAL TECHNOLOGY

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