Contents lists available at ScienceDirect Advances in Engineering Software journal homepage: www.elsevier.com/locate/advengsoft Research paper Non-collision trajectories of service industrial robots Naqib Daneshjo a , Marián Králik b , Milan Majerník a , Erika Dudáš Pajerská a, ⁎ , Jana Naščáková a a University of Economics in Bratislava, Faculty of Business Economics with seat in Kosice, Kosice, Slovak Republic b Slovak Technical University in Bratislava, Faculty of Mechanical Engineering, Bratislava, Slovak Republic ARTICLE INFO Keywords: Logistics of the handling cycle Robotic system Kinematics of the robot Trajectory optimization 3D model Collision testing ABSTRACT The innovative algorithm for robot collision testing was developed and debugged for programming industrial robots handling production and peripheral devices in a flexible manufacturing system. Due to this it allows the analysis of the robot effector and robot transition paths with the possibility of optimizing them in relation to the economy of the handling cycle, runway length, safety and operator time and overall handling performance. The key part of our pro- posal is to analyze the 3D model and its interpretation in a relevant form to enable data processing with modern computer graphics techniques with hardware support of calculations and work at the level of individual objects and polygons. Formalization of the robot's direct and inverse kinematic structure allows control of its interaction during servicing movements with other robot devices and peripherals. This ensures the optimal and unobtrusive trajectory of each mechanical element of the industrial robot serving the production and peripheral devices in the intelligent system. 1. Introduction Optimizing of robotic workspace handling cycles, whether in pro- duction, communication, management, logistics or other areas, is a priority to increase efficiency by saving costs, increasing productivity, or ideally for the synergistic impact of both factors. The main area is to maintain the high quality and production stability. The possibilities and scope of optimization of handling cycles from the robotic workplace depend on the high flexibility resulting from the selection of the best available techniques and technologies. Issue of service industrial robots and their non-problem trajectories is very actual research problem. Optimizing of this area means penetrative increase of efficiency in terms determined by costs, time and incomes. Nowadays, many research papers are oriented on finding the best setting of service robots. Authors Wang, Jeong and Ohno point on that fact that robot does not have the ability to tell whether its service satisfied its users. In other words, present service robot is not aware of its fault [4]. Quigley mention that service robotics has recently been a growing field as well in research as in industrial contexts. It offers adaptive robotic systems that allow direct human-robot interaction and cooperation [3]. In contrast to classical industrial robots, service robots are flexible and can react to events or changes in their environment. Mauch, Roennau, Heppner, Buettner, and Dillmann refer that service robots are interacting with humans in an intuitive, natural way what makes them highly interesting as alternative for industrial production challenges but also for daily tasks like cleaning or cooking. Demonstrating new service robotics applications in public helps to promote the concept of in- telligent, adaptive robots that can support us in our daily life [1]. From the point of view of the financial and time intensity of motion optimization, the most convenient possibilities are correction of the transition trajectories, the modification of the Central Processing Unit (CPU) system, which ensures the cooperation of the individual per- ipherals of the workplace and optimization of the main technological parameters of the process; for example for welding, for operator of chip- machining, for assemblage and others. The more challenging changes can be defined in the spatial rearrangement or in the exchange of in- dividual technological elements of the robotic system. In connection with the kinematic structure of industrial robots and the extent of their work zone, there is much greater importance for zonal workplace optimization, easy accessibility and possible interaction with robot peripherals, rather than the trajectory. While design proposal and production are using CAx software in a large extent, moving solutions within the transition trajectories remain – in most cases – to assess the programmer within the installation, without the possibility of evaluating of its parameters and optimization levels based on the required criteria. 2. Methodology of experimental verification of non-collision service areas Experimental verification in our research is realized by creating a computer simulation on the background of which is the implementation of the individual algorithms for the calculation of the data needed for https://doi.org/10.1016/j.advengsoft.2018.08.003 Received 20 June 2018; Received in revised form 24 July 2018; Accepted 12 August 2018 ⁎ Corresponding author. E-mail address: erika.dudas.pajerska@euke.sk (N. Daneshjo). Advances in Engineering Software xxx (xxxx) xxx–xxx 0965-9978/ © 2018 Elsevier Ltd. All rights reserved. Please cite this article as: Daneshjo, N., Advances in Engineering Software (2018), https://doi.org/10.1016/j.advengsoft.2018.08.003