A Real-Time Human-Robot Collision Safety Evaluation Method for Collaborative Robot

Heonseop Shin, Sanghoon Kim, Kwang Seo, Sungsoo Rhim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Citations (Scopus)

Abstract

As collaborative robots share workspace with humans, physical collision between the human and the robot is inevitable. In order to ensure the safety of humans an international standard, ISO/TS 15066, presents the collision peak pressure which should not be exceeded in the case of collision. To prevent human injury from collision, robots should be aware of its potential risk by predicting the collision peak pressure in real time. The pressure varies depending on the shape of the impactor and the contact area in the event of a collision, the collision peak pressure needs to be analyzed by considering the contact surface nonlinearity. Furthermore, the deformation of human skin exhibits nonlinear elastic behavior. Modeling the human-robot contact behavior with the finite element method would be a conventional approach for solving complex nonlinearity. However, it is not practically possible to perform real-time evaluations because of its high computational cost. This paper introduces a real-time pressure estimation method using a mathematical model for evaluating collision safety for a collaborative robot. To verify the effectiveness of the real-time model associated with the contact surface, impactor shape and the material, we compare with a FE model based calculation results in this paper. The relationship between accuracy and the computational cost is also described.

Original languageEnglish
Title of host publicationProceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages509-513
Number of pages5
ISBN (Electronic)9781538692455
DOIs
Publication statusPublished - 26 Mar 2019
Event3rd IEEE International Conference on Robotic Computing, IRC 2019 - Naples, Italy
Duration: 25 Feb 201927 Feb 2019

Publication series

NameProceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019

Conference

Conference3rd IEEE International Conference on Robotic Computing, IRC 2019
Country/TerritoryItaly
CityNaples
Period25/02/1927/02/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

Keywords

  • collision
  • human-robot collaboration
  • pressure
  • safety
  • shape

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