Process for collision avoidance in an automated handling system, which comprises: - a working area which is configured for quasi-static receiving of at least one object, - at least two numerically controlled arms (11, 12) which are movable above the working area, wherein the following steps are carried out: a. Providing the actual topography of the working area including the current position of the at least one object; b. Providing (S3.1; S2, S3, S4.1) a path from a first position to a second position, wherein when this step b. is passed through for the first time, a reference path, preferably the shortest path is provided as path; c. Executing a quasi-static collision examination (S4, S5; S4.2) for the provided path in a preview on a mathematical path by means of a simulation, for determining whether the first of the two arms would collide with the actual topography of the working area if moved along this path; d. Repeating the steps b., c. and d. as long as in step c. a collision is determined, otherwise executing the subsequent step e.; e. Executing a dynamic collision examination (S4, S5; S4.3, S5.1) for the path in a preview on a mathematical path by means of a simulation, for determining whether the arms (11, 12) would collide with each other if the first of the two arms would move along this path; f. Applying an evasion strategy if a collision was determined in step e., and executing a movement of the first of the two arms from the first position to a second position by applying the evasion strategy; g. Executing a movement of the first of the two arms from the first position to the second position along the path if the dynamic collision examination in step e. has not determined a collision; characterized in that when applying the evasion strategy according to step f. there is the possibility to repeat the steps b. to f. so often until no collision is detected anymore, wherein in step b. each time a new evasion path (W2, W3, W4) is provided from the first position to the second position. - a working area which is configured for quasi-static receiving of at least one object, - at least two numerically controlled arms (11, 12) which are movable above the working area, a. Providing the actual topography of the working area including the current position of the at least one object; b. Providing (S3.1; S2, S3, S4.1) a path from a first position to a second position, wherein when this step b. is passed through for the first time, a reference path, preferably the shortest path is provided as path; c. Executing a quasi-static collision examination (S4, S5; S4.2) for the provided path in a preview on a mathematical path by means of a simulation, for determining whether the first of the two arms would collide with the actual topography of the working area if moved along this path; d. Repeating the steps b., c. and d. as long as in step c. a collision is determined, otherwise executing the subsequent step e.; e. Executing a dynamic collision examination (S4, S5; S4.3, S5.1) for the path in a preview on a mathematical path by means of a simulation, for determining whether the arms (11, 12) would collide with each other if the first of the two arms would move along this path; f. Applying an evasion strategy if a collision was determined in step e., and executing a movement of the first of the two arms from the first position to a second position by applying the evasion strategy; g. Executing a movement of the first of the two arms from the first position to the second position along the path if the dynamic collision examination in step e. has not determined a collision;