TY - JOUR
T1 - Estimating probability of human hand intrusion for speed and separation monitoring using interference theory
AU - Kim, Eugene
AU - Kirschner, Robin
AU - Yamada, Yoji
AU - Okamoto, Shogo
N1 - Publisher Copyright:
© 2019 Elsevier Ltd
PY - 2020/2
Y1 - 2020/2
N2 - 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.
AB - 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.
KW - Human-robot collaboration
KW - Interference theory
KW - Speed and separation monitoring
KW - Unstructured manufacturing
UR - http://www.scopus.com/inward/record.url?scp=85067177483&partnerID=8YFLogxK
U2 - 10.1016/j.rcim.2019.101819
DO - 10.1016/j.rcim.2019.101819
M3 - Article
AN - SCOPUS:85067177483
SN - 0736-5845
VL - 61
JO - Robotics and Computer-Integrated Manufacturing
JF - Robotics and Computer-Integrated Manufacturing
M1 - 101819
ER -