Requirements for Safe Robots: Measurements, Analysis and New Insights
Requirements for Safe Robots: Measurements, Analysis and New Insights
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DOI：
10.1177/0278364909343970
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发表时间：
2009-11-01
影响因子：
9.2
通讯作者：
Hirzinger, Gerd
中科院分区：
文献类型：
--
作者：
Haddadin, Sami;Albu-Schaeffer, Alin;Hirzinger, Gerd
人机物理交互与协作已成为机器人研究中日益重要的课题和热点。设计用于高机动性和与人类用户或不确定环境直接交互的机器人的基本要求是，它在任何情况下都不能对人类构成威胁。直到最近，已经有相当多的人尝试通过碰撞测试来调查现实世界的威胁，并利用结果来大大提高人机交互过程中的安全性。在本文中，我们概述了我们对人机交互安全性的系统评估，涵盖了最重要的伤害机制的各个方面。为了量化这种机械臂产生的潜在伤害风险，在德国汽车俱乐部（ADAC）的标准汽车碰撞试验设施上，对dlr -轻型机器人III进行了碰撞试验。在此基础上，对几种不同重量的工业机器人进行了评价，并研究了机器人质量和速度的影响。评估的非约束影响只能部分地捕捉到人机安全的本质。从不同的角度讨论和评价了可能受到约束的环境及其对人体伤害的影响。在进行碰撞试验和仿真的同时，我们还分析了准静态约束碰撞问题，在某些情况下，即使是低惯性的机器人也可能对人类造成严重威胁。最后，对机器人技术中可能出现的损伤进行了总结和系统分类。
Physical human-robot interaction and cooperation has become a topic of increasing importance and of major focus in robotics research. An essential requirement of a robot designed for high mobility and direct interaction with human users or uncertain environments is that it must in no case pose a threat to the human. Until recently, quite a few attempts were made to investigate real-world threats via collision tests and use the outcome to considerably improve safety during physical human-robot interaction. In this paper, we give an overview of our systematic evaluation of safety in human-robot interaction, covering various aspects of the most significant injury mechanisms. In order to quantify the potential injury risk emanating from such a manipulator, impact tests with the DLR-Lightweight Robot III were carried out using standard automobile crash test facilities at the German Automobile Club (ADAC). Based on these tests, several industrial robots of different weight have been evaluated and the influence of the robot mass and velocity have been investigated. The evaluated non-constrained impacts would only partially capture the nature of human-robot safety. A possibly constrained environment and its effect on the resulting human injuries are discussed and evaluated from different perspectives. As well as such impact tests and simulations, we have analyzed the problem of the quasi-static constrained impact, which could pose a serious threat to the human even for low-inertia robots under certain circumstances. Finally, possible injuries relevant in robotics are summarized and systematically classified.