A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis

• DOI: 10.4173/mic.2015.1.2
• Publication Date: 2015-02-25T15:24:27Z
• Authors: Audun Sanderud; Trygve Thomessen; Hisashi Osumi; Mihoko Niitsuma
• Keywords: 0209 industrial biotechnology; Safe Human-Robot Collaboration; Electronic computers. Computer science; QA75.5-76.95; 02 engineering and technology; Risk Field; Risk Analysis

In an increasing demand for human-robot collaboration systems, the need for safe robots is crucial. This paper presents a proactive strategy to enable an awareness of the current risk for the robot. The awareness is based upon a map of historically occupied space by the operator. The map is built based on a risk evaluation of each pose presented by the operator. The risk evaluation results in a risk field that can be used to evaluate the risk of a collaborative task. Based on this risk field, a control algorithm that constantly reduces the current risk within its task constraints was developed. Kinematic redundancy was exploited for simultaneous task performance within task constraints, and risk minimization. Sphere-based geometric models were used both for the human and robot. The strategy was tested in simulation, and implemented and experimentally tested on a NACHI MR20 7-axes industrial robot.