Safe and reliable human-robot interaction in manufactory, within and beyond the workcell

The paper discusses the concept of the integrated safety monitoring system for the human-robot interaction domain. These main elements are the advisory, computer aided expert system, the safety mode controller and the human awareness interface. The introduced approach allows to ensure the required level of safety for the collaborative tasks performance in manufacturing setup within or beyond the robotized workcell. The generated protocols of the expert system, safety criteria (danger index) and functional modes are the determining elements of the safety framework. The expert system, which inference engine is built on the fuzzy theory application, provides designer with an explicit workcell ergonomic and human factor analysis, task related hazards and risk category evaluation. Safety mode controller functional algorithm is based on the safety modes monitoring parameters definition and their continuous control. It is represented as a separated unit that monitors interconnected elements in compliance with the safety criteria and predefined transition rules. The proposed human warning system, mounted on the individual wrist and interconnected with the overall safety system, suppose to alert an operator about the system current state by imparting vibrotactile and visual cueing in compliance with predefined rules.