Computation of Safe Path Velocity for Collaborative Robots
Computation of Safe Path Velocity for Collaborative Robots
复制标题
协作机器人安全路径速度的计算
DOI：
10.1109/iros.2018.8594217
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
H. G. Petersen
中科院分区：
文献类型：
--
作者：
Christoffer Sloth;H. G. Petersen
本文提出了一种方法，数值计算的最高路径速度，协作机器人可以达到，同时符合安全要求。安全要求来自ISO/TS 15066，该标准描述了一种称为功率和力限制的协作方法，该方法规定了人类和机器人之间的安全碰撞。特别地，我们假设给定了一条路径，并计算确保安全撞击的逐点最大路径速度，即，该文件没有提供有关碰撞后安全性的考虑。
This paper presents a method for numerically computing the highest path velocity that a collaborative robot can attain, while complying with safety requirements. The safety requirements are obtained from ISO/TS 15066 that describes a collaborative method called power and force limiting, which specifies safe collisions between humans and robots. In particular, we assume that a path is given and compute the point-wise maximal path velocity that ensures a safe impact, i.e., the paper provides no considerations on the post impact safety.