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

Eugene Kim; Robin Kirschner; Yoji Yamada; Shogo Okamoto

doi:10.1016/j.rcim.2019.101819

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

Eugene Kim
, Robin Kirschner
, Yoji Yamada
, Shogo Okamoto

Nagoya University
Chemnitz University of Technology

Research output: Contribution to journal › Article › peer-review

30 Scopus citations

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.

Original language	English
Article number	101819
Journal	Robotics and Computer-Integrated Manufacturing
Volume	61
DOIs	https://doi.org/10.1016/j.rcim.2019.101819
State	Published - Feb 2020
Externally published	Yes

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

Human-robot collaboration
Interference theory
Speed and separation monitoring
Unstructured manufacturing

Access to Document

10.1016/j.rcim.2019.101819

Cite this

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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.",

keywords = "Human-robot collaboration, Interference theory, Speed and separation monitoring, Unstructured manufacturing",

author = "Eugene Kim and Robin Kirschner and Yoji Yamada and Shogo Okamoto",

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year = "2020",

month = feb,

doi = "10.1016/j.rcim.2019.101819",

language = "English",

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journal = "Robotics and Computer-Integrated Manufacturing",

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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

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 - https://www.scopus.com/pages/publications/85067177483

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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 -

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

Abstract

UN SDGs

Keywords

Access to Document

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