The design methodology for a human symbiotic manipulator which guarantee human safety and the ability for human-robot collaboration are described. The safety design parameters are classified into four categories: manipulator cover materials; motion controls; collision statements; and safety indices. Physical models of shock absorption covers, generalized conditions of human-robot collision, and severity indices for producing moderate injury are presented. Human-robot collisions are simulated through a combination of these parameters and the effects of each parameter on safety are arranged. By using the methodology, an actual safety cover is developed and attached to a seven degrees-of-freedom force controlled manipulator.
|出版ステータス||Published - 1997 12 1|
|イベント||Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn|
継続期間: 1997 6 16 → 1997 6 20
|Other||Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97|
|Period||97/6/16 → 97/6/20|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用