Estimating probability of human hand intrusion for speed and separation monitoring using interference theory

Kim, Eugene; Kirschner, Robin; Yamada, Yoji; Okamoto, Shogo

doi:10.1016/j.rcim.2019.101819

KIM2020101819

Document type:: Zeitschriftenaufsatz
Author(s):: Kim, Eugene; Kirschner, Robin; Yamada, Yoji; Okamoto, Shogo
Title:: Estimating probability of human hand intrusion for speed and separation monitoring using interference theory
Abstract:: Human Robot Collaboration (HRC) has attracted high attention in modern manufacturing. Recently, a safety standard for collaborative robots has been launched (ISO/TS 15066). It cover the safety function of Speed and Separation Monitoring (SSM) which includes velocities and positions of the human and the robot. However, risk should be discussed with probability, while the SSM is not. Therefore, the probability of intrusion was calculated according to the stopping time of the robot and the maximum speed of the robot. Since the SSM was testified along the simulation by far, actual adhesive applying task was carried out in this paper. «
Human Robot Collaboration (HRC) has attracted high attention in modern manufacturing. Recently, a safety standard for collaborative robots has been launched (ISO/TS 15066). It cover the safety function of Speed and Separation Monitoring (SSM) which includes velocities and positions of the human and the robot. However, risk should be discussed with probability, while the SSM is not. Therefore, the probability of intrusion was calculated according to the stopping time of the robot and the maximum... »
Keywords:: Human-robot collaboration, Speed and separation monitoring, Interference theory, Unstructured manufacturing
Journal title:: Robotics and Computer-Integrated Manufacturing
Year:: 2020
Journal volume:: 61
Pages contribution:: 101819
Fulltext / DOI:: doi:10.1016/j.rcim.2019.101819
WWW:: http://www.sciencedirect.com/science/article/pii/S0736584518302904
Print-ISSN:: 0736-5845
BibTeX

Occurrences:

mediaTUM Gesamtbestand Einrichtungen Schools TUM School of Computation, Information and Technology Departments Computer Engineering Robotik und Systemintelligenz (Prof. Haddadin)Zeitschriftenaufsätze

mediaTUM Gesamtbestand Hochschulbibliographie 2020 Fakultäten Elektrotechnik und Informationstechnik Robotik und Systemintelligenz (Prof. Haddadin, Joint Appointment mit Fakultät für Informatik)