Method to prevent interferences and to control collisions between mechanical members (17, 23) of a first operating unit (11, 111) and a second operating unit (11, 111), said mechanical members (17, 23) being configured to carry out an operating cycle in a region where interference or collisions can occur, each operating unit (11, 111) being associated with a respective position detector, and each mechanical member being connected via a respective drive shaft to a respective electric motor (15, 21) supplied with electric current for driving the corresponding mechanical member (17, 23), said mechanical members following trajectories that interfere with each other, said method being managed by a management and control unit commanding said electric motors to drive the operating units (11, 111) in a coordinated manner, said method comprising: - a first phase of preventing interferences between the mechanical members (17, 23) comprising a point by point detections of a position of both the drive shafts and based on these detections, comparing a point by point position of each operating unit (11, 111) by means of the management and control unit in relation to a future position of possible interference, by considering dynamics with which the mechanical members (17, 23) proceed and dynamics with which the mechanical members (17, 23) are able to stop using the maximum allowed torque, wherein if the point by point position of one of the operating units (11, 111) indicates the possibility of interference with the other operating unit, the management and control unit calculates times and coordinates for stopping at least one of the mechanical members (17, 23) and intervenes to prevent a collision between the mechanical members (17, 23), and characterized by - a second phase of detecting collisions comprising verifying an actual intensity of current supplied to the electric motors (15, 21), dividing said operating cycle into a plurality of sub-phases and, for each sub-phase, comparing the actual intensity of current supplied to each electric motor (15, 21) with a reference current value in order to see whether at least one of the current supplied to the electric motors (15, 21) falls within a window of acceptability made of two thresholds assigned to each sub-phase or multiple of sub-phase, of which one threshold is bigger and the other is smaller than the reference current value, wherein if at least one of the current supplied to the electric motors (15, 21) is outside said window of acceptability, the management and control unit intervenes with a blockage; wherein the first phase and the second phase are executed simultaneously. - a first phase of preventing interferences between the mechanical members (17, 23) comprising a point by point detections of a position of both the drive shafts and based on these detections, comparing a point by point position of each operating unit (11, 111) by means of the management and control unit in relation to a future position of possible interference, by considering dynamics with which the mechanical members (17, 23) proceed and dynamics with which the mechanical members (17, 23) are able to stop using the maximum allowed torque, wherein if the point by point position of one of the operating units (11, 111) indicates the possibility of interference with the other operating unit, the management and control unit calculates times and coordinates for stopping at least one of the mechanical members (17, 23) and intervenes to prevent a collision between the mechanical members (17, 23), and characterized by - a second phase of detecting collisions comprising verifying an actual intensity of current supplied to the electric motors (15, 21), dividing said operating cycle into a plurality of sub-phases and, for each sub-phase, comparing the actual intensity of current supplied to each electric motor (15, 21) with a reference current value in order to see whether at least one of the current supplied to the electric motors (15, 21) falls within a window of acceptability made of two thresholds assigned to each sub-phase or multiple of sub-phase, of which one threshold is bigger and the other is smaller than the reference current value, wherein if at least one of the current supplied to the electric motors (15, 21) is outside said window of acceptability, the management and control unit intervenes with a blockage;