Physical safety analysis of robot considering impactor shape

Shin, Heonseop; Choi, Jin-Hwan; Choi, Junsuk; Rhim, Sungsoo

doi:10.1109/icrae.2017.8291342

Cited by 7 publications

(3 citation statements)

References 7 publications

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“…An earlier model that considers the collision impactor shape can be found in [32]. The corresponding pressure modeling is based on Hertz theory and considers Young's modulus, Poisson's ratio, and impact angles.…”

Section: A State Of the Art Formal Verification Of Human-robot Collis...mentioning

confidence: 99%

Collision Tests in Human-Robot Collaboration: Experiments on the Influence of Additional Impact Parameters on Safety

Fischer,

Neuhold,

Steiner

et al. 2023

IEEE Access

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Human-robot collaborations are among the most promising but challenging applications for human-centered production, as both agents involved share a mutual workspace without physical barriers. Safety aspects require limiting the power and force of operations to comply with biomechanical limits in case of a collision according to the International Organization for Standardization (ISO) technical specification ISO/TS 15066:2016. This analysis requires highly elaborate physical crash tests of potential impact scenarios. Formal verification will save considerable amounts of time and effort. However, the equations presented in current guidelines need to be more accurate as many factors influencing the impact force and pressure are not considered, making these equations impractical for the evaluation of real applications. To answer the question of which parameters influence a human-robot collision, we have experimentally analyzed different collision scenarios in various configurations. The main results show the correlation of impactor geometries, edges versus rounding, and Shore hardness of the affected body region that simulates human tissue. This work presents the parameters that a formal human-robot collision verification model should contain, based on experimental tests. Furthermore, a model that identifies a collision's worst-case impacted body region is introduced. The results of this work will help in simplifying and accelerating the safety evaluation process of collaborative human-robot applications to better realize their potential.INDEX TERMS Industrial robot safety, human-robot collaboration (HRC), formal methods in robotics and automation, power and force limitation, robot collision evaluation.

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Section: A State Of the Art Formal Verification Of Human-robot Collis...mentioning

confidence: 99%

Collision Tests in Human-Robot Collaboration: Experiments on the Influence of Additional Impact Parameters on Safety

Fischer,

Neuhold,

Steiner

et al. 2023

IEEE Access

View full text Add to dashboard Cite

show abstract

“…The widely used Hertzian model operates under the assumptions of elastic strain, continuous surfaces, elastic half-space, and frictionless surfaces. For a more accurate estimation, a penetration-based one-layer, nonlinear contact model has been suggested [7,13]. The characteristics of human skin are highly nonlinear and exhibit greater nonlinearity when considering the depth of the contact area.…”

Section: Contact Modelmentioning

confidence: 99%

“…In order to overcome these limitations, a one-layered, nonlinear contact model based on penetration was proposed [7,13]. This mathematical model covers the nonlinear elasticity of human skin and also includes several impactor shapes for computation.…”

Section: Introductionmentioning

confidence: 99%

A Virtual Pressure and Force Sensor for Safety Evaluation in Collaboration Robot Application

Shin

Kim

Seo

et al. 2019

Sensors

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Recent developments in robotics have resulted in implementations that have drastically increased collaborative interactions between robots and humans. As robots have the potential to collide intentionally and/or unexpectedly with a human during the collaboration, effective measures to ensure human safety must be devised. In order to estimate the collision safety of a robot, this study proposes a virtual sensor based on an analytical contact model that accurately estimates the peak collision force and pressure as the robot moves along a pre-defined path, even before the occurrence of a collision event, with a short computation time. The estimated physical interaction values that would be caused by the (hypothetical) collision were compared to the collision safety thresholds provided within ISO/TS 15066 to evaluate the safety of the operation. In this virtual collision sensor model, the nonlinear physical characteristics and the effect of the contact surface shape were included to assure the reliability of the prediction. To verify the effectiveness of the virtual sensor model, the force and pressure estimated by the model were compared with various experimental results and the numerical results obtained from a finite element simulation.

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Integrated Framework for Safety Management and Software-Assisted Safety Assessment in Fluid Production

Koo,

Neuschwander,

Vorderer

et al. 2023

Arena2036

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In the factory of the future, the concept of fluid production allows production processes to be adapted more frequently and efficiently to fulfill rapidly-changing product requirements and to prevail in an increasingly challenging market environment. Production resources, machinery and humans are integrated seamlessly to achieve common production goals. Rapid changes in system configurations are also enabled by highly modular, self-descriptive and reusable machinery modules called Mechatronic Objects. The high reconfigurability in fluid production poses new challenges for the safety management of future production systems. Every modification done to an existing system needs to be risk assessed and approved during the commissioning to allow its safety-compliant operation. As current industrial practices for risk assessment are still labor-intensive and time-consuming, new methods are needed to quickly integrate the aforementioned highly modular Mechatronic Objects into fluid production systems. In this paper, we propose a safety management and assessment framework to address the safety-related challenges for fluid production. This paper proposes a new modeling method to describe the different types of Mechatronic Objects and derives different stages for the assessment and approval of fluid production systems. This allows a more efficient and accelerated commissioning phase, a seamlessly integrated production and the reduction of manual efforts needed for the system commissioning. The proposed framework, the methods and the implemented software tools are validated using a case study for a highly reconfigurable assembly system at the research campus ARENA2036 at the University of Stuttgart.

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Physical safety analysis of robot considering impactor shape

Cited by 7 publications

References 7 publications

Collision Tests in Human-Robot Collaboration: Experiments on the Influence of Additional Impact Parameters on Safety

Collision Tests in Human-Robot Collaboration: Experiments on the Influence of Additional Impact Parameters on Safety

A Virtual Pressure and Force Sensor for Safety Evaluation in Collaboration Robot Application

Integrated Framework for Safety Management and Software-Assisted Safety Assessment in Fluid Production

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