General danger-evaluation method of human-care robot control and development of special simulator

Author

Ikuta, Koji ; Nokata, Makoto ; ISHII, Hideki

Author_Institution

Sch. of Eng., Nagoya Univ., Japan

Volume

4

fYear

2001

fDate

2001

Firstpage

3181

Abstract

Proposes a safety evaluation method for use in various kinds of control strategies for human-care robots. In the case of a careless collision between a robot and a human, impact force and impact stress are chosen as evaluation measures, and a danger-index is defined to quantitatively evaluate the effectiveness of each safety strategy used for control. As in a previous paper on safety design, this proposed method allows us to assess the contribution of each safety control strategy to the overall safety performance of a human-care robot. In addition, a new type of 3D robot simulation system for danger-evaluation is constructed on PC. The system simplifies to evaluate danger about both design and control of various kind of human-care robots to quantify the effectiveness of various safety strategies.

Keywords

CAD; digital simulation; robots; safety; collision; danger-index; evaluation measures; general danger-evaluation method; human-care robot control; impact force; impact stress; quantitative evaluation; safety evaluation method; safety strategy; Control systems; Equations; Force control; Force measurement; Humans; Injuries; Robot control; Safety; Stress measurement; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933108

Filename

933108