Robot arrangement having a robot, wherein the robot has at least one kinematic chain and at least one end effector, wherein the kinematic chain and/or the end effector can be moved in order to perform a task in a work area, having a control device for inputting, stipulating and/or setting the task, wherein the control device has a control module which is designed to plan a path for performing the task and to control the robot on the basis of the path, wherein the control device has a collision monitoring module which is designed to plan a departure strategy if the robot collides with a collision geometry arranged in the work area, and wherein the control module is designed to control the robot on the basis of the departure strategy, wherein the control device has a simulation module which is configured to simulate the departure strategy, wherein a 3D model of the robot arrangement is stored in the simulation module, wherein the 3D model is in the form of a CAD model of the work area and/or of the robot and/or of the collision geometry, and wherein the collision monitoring module is designed to calculate a departure journey with a departure path on the basis of the 3D model and to transmit it to the control module as the departure strategy, characterized in that the simulation module is designed to span a vector space around a reference point, in particular a tool centre point of the end effector, in the 3D model, wherein the vector space respectively forms, at least with its corner points and/or centre points, a direction point for defining direction vectors, wherein the vector space is formed by a cuboid which, with its corners, defines the corner points, and the centre points are each arranged centrally between the corner points on the cuboid surfaces and the cuboid edges, wherein the simulation module is designed to simulate a collision test starting from the reference point by sampling the direction vectors using data technology by virtue of the linear paths defined by the direction vectors being sampled, starting from the reference point, in the direction of the direction points, wherein a point at which a transition from a collision to freedom from a collision is determined during the collision test is defined as a collision-free sampling point, and wherein an associated distance between the reference point and the collision-free sampling point is stored in the collision monitoring module, wherein the collision monitoring module is designed to calculate a minimum departure path on the basis of the distance determined by the collision test and to transmit it to the control module as part of the departure strategy. having a robot, wherein the robot has at least one kinematic chain and at least one end effector, wherein the kinematic chain and/or the end effector can be moved in order to perform a task in a work area, having a control device for inputting, stipulating and/or setting the task, wherein the control device has a control module which is designed to plan a path for performing the task and to control the robot on the basis of the path, wherein the control device has a collision monitoring module which is designed to plan a departure strategy if the robot collides with a collision geometry arranged in the work area, and wherein the control module is designed to control the robot on the basis of the departure strategy, wherein the control device has a simulation module which is configured to simulate the departure strategy, wherein a 3D model of the robot arrangement is stored in the simulation module, wherein the 3D model is in the form of a CAD model of the work area and/or of the robot and/or of the collision geometry, and wherein the collision monitoring module is designed to calculate a departure journey with a departure path on the basis of the 3D model and to transmit it to the control module as the departure strategy, characterized in that the simulation module is designed to span a vector space around a reference point, in particular a tool centre point of the end effector, in the 3D model, wherein the vector space respectively forms, at least with its corner points and/or centre points, a direction point for defining direction vectors, wherein the vector space is formed by a cuboid which, with its corners, defines the corner points, and the centre points are each arranged centrally between the corner points on the cuboid surfaces and the cuboid edges, wherein the simulation module is designed to simulate a collision test starting from the reference point by sampling the direction vectors using data technology by virtue of the linear paths defined by the direction vectors being sampled, starting from the reference point, in the direction of the direction points, wherein a point at which a transition from a collision to freedom from a collision is determined during the collision test is defined as a collision-free sampling point, and wherein an associated distance between the reference point and the collision-free sampling point is stored in the collision monitoring module, wherein the collision monitoring module is designed to calculate a minimum departure path on the basis of the distance determined by the collision test and to transmit it to the control module as part of the departure strategy.