Robotic manipulators have been a key part of production for decades, but in recent years there has been an increase in robot applications in the unstructured environment of the service sector. Their most important feature is the ability to adapt to unforeseen interactions with the environment. The master's thesis discusses the process of developing a control program for a collaborative robot that helps the operator in laser therapy of the patient's skin. The control scheme guides the manipulator along a trajectory that is generated in real time and adapts to the geometry of the human body. The theory of robot manipulators is presented and the process of creating a control program on a real and simulated robot is described. Finally, the operation of the system is demonstrated.
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