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CSME 2020/04
Volume 41 No.2
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199-209
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Safety of Human–Robot Interaction: Concepts and Implementation Based on Robot-Related Standards
Hsiang-Yuan Tinga, Huan-Kun Hsua, Ming-Bao Huanga and Han-Pang Huanga
aDepartment of Mechanical Engineering, National Taiwan University, No. 1, Sec. 4, Roosevelt Rd., Taipei 10617, TAIWAN (R.O.C.).
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Abstract:
standards of machinery and robots are introduced, and the pre-collision safety strategies that integrate operating speed adjustments and motion trajectory modifications in order to guarantee the safety of humans are explored. We propose a safety strategy based on risk assessment and speed reduction procedures to avoid collisions between robots and humans. The proposed strategy uses a Kinect sensor to estimate the distance between a human and the robot to slow the robot down or to calculate the virtual force in the risk space to further modify the motion of the robot. The strategy is validated by experiment results. Particularly, the proposed strategy can meet the requirements of the ISO 15066 guidelines for the robot in a human–robot collaboration. Additionally, the loop structure of safety function included in the proposed strategy can meet performance level e of ISO 13849.
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Keywords: Human–robot collaboration, ISO 13849, ISO 15066, physical human–robot interaction, pre-collision safety strategy.
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*Corresponding author; e-mail:
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©
2020
CSME , ISSN 0257-9731
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