Safety Aspects in a Human-Robot Interaction Scenario: A Human Worker Is Co-operating with an Industrial Robot
Safety Aspects in a Human-Robot Interaction Scenario: A Human Worker Is Co-operating with an Industrial Robot
复制标题
人机交互场景中的安全问题：人类工人与工业机器人合作
DOI：
10.1007/978-3-642-03986-7_7
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
W. Rösel
中科院分区：
文献类型：
--
作者：
M. Zäh;W. Rösel
本文提出了一个智能工作环境的概念，旨在允许人类和工业机器人的真正联合行动。该系统通过多种传感器模式感知环境，并与工业机器人机械手一起在环境中与人类工人组合组装工件。结合机器人的反应性行为，人与机器人之间的安全协作成为可能。通常，应用程序场景位于工厂中，在工厂中，机器人支持人类工人完成给定的混合组装场景，其中包括手动和自动组装步骤。为了实现有效的人机协作，必须开发和验证新的安全方法。必须检测人类工作人员以及环境中的物体，并且必须采用避免碰撞的算法来确保人员和设备的安全。
This paper presents a concept of a smart working environment designed to allow true joint actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble workpieces in combination with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is possible. Generally, the application scenario is situated in a factory, where a human worker is supported by a robot to accomplish a given hybrid assembly scenario, that covers manual and automated assembly steps. For an effective human-robot collaboration, new safety methods have to be developed and proven. Human workers as well as objects in the environment have to be detected and a collision avoidance algorithm has to ensure the safety for persons and equipment.