Şahin, Haydar2024-06-132024-06-1320222687-372910.47495/okufbed.1030575https://doi.org/10.47495/okufbed.1030575https://search.trdizin.gov.tr/tr/yayin/detay/1205989https://hdl.handle.net/11501/828In the present study, the Controllable Instantaneous Screw Axes (C-ISA) 1 and C-ISA 2 shape variable angles are modified independently to realize various rule-based work spaces and trajectories for multi collaborative robot control. The toolbox developed previously is used to obtain the algorithm of the workspaces for 2-RR collaborative multi-robots herein. Six collaborative multi-robots are exploited to design the intersecting workspaces with generated trajectories. The classifications of the workspaces are unveiling the boundaries of the collaborations for the six multi-robots of the 2-RR (Revolute Revolute). The recent developments are showing that the multi-robots are embedding into the automation systems to achieve the novel requirements of the challenging technology. Therefore, the workspace algorithms developed herein are prepared to be utilized by these automation systems.eninfo:eu-repo/semantics/openAccessArticle3411325120598912059895