*Proceeding Paper* **Improving Collaborative Robotic Complex Efficiency: An Approach to the Intellectualization of the Control System †**

**Mikhail Gorkavyy, Yuri Ivanov, Sergey Sukhorukov, Sergey Zhiganov, Makrel Melnichenko, Alexander Gorkavyy and Daniil Grabar \***

**\*** Correspondence: gorbat308@yandex.ru; Tel.: +7-4217-241-139; Fax: +7-4217-536-150

† Presented at the 15th International Conference "Intelligent Systems" (INTELS'22), Moscow, Russia, 14–16 December 2022.

**Abstract:** This paper proposes an original approach to improving the efficiency of technological processes based on collaborative robots, which differs from the existing ones by the possibility of intensifying the process of modeling the human factor when forming a control law. A structural and functional diagram of the model of a standard cobot control system in the basic industrial configuration is presented. The shortcomings of a standard solution for the formation of laws for controlling the movement of a cobot in a nondeterministic environment in the same workspace with a person are demonstrated. Structural and functional solutions are proposed to outline a strategy for increasing the degree of synergistic effect of human–machine interaction. The effect can be achieved through the introduction of an extended system of sensors and analytics and an intelligent module robot trajectory movement formation and optimization under disturbing influences. The results of the comparison between the standard control system of the cobot and the prototype of the intelligent system are presented. As an example, the operation of the implementation of collision avoidance that occurs due to the appearance of a stationary object in the working area is given. The results obtained demonstrate a significant time- and energy-saving effect (from 15% to 182% depending on the operation) in the case of using an intelligent control system. A feature of the proposed approach is to strengthen the integration links of intelligent analysis and optimization modules, which allow real-time multimodal processing of sensory data and environmental modeling to predict human actions and form cobot reactions.

**Keywords:** collaborative robots; approach; intelligent control system; energy efficiency; optimization; image analysis; decision making
