TY - GEN
T1 - Guideline for determination of link length of a 3 DOF planar manipulator for human-robot collision safety
AU - Lee, Sang Duck
AU - Kim, Byeong Sang
AU - Song, Jae Bok
PY - 2012
Y1 - 2012
N2 - In recent years, collision safety between a human and a robot has been increasingly important along with the spread of service robots. Much research has been conducted on how to design a safe manipulator, but it is not applicable to real manipulators yet. To deal with this problem, we propose a guideline to design a safe manipulator, which is composed of two phases, the safety evaluation and design parameter adjustment. To evaluate collision safety, we adopt the effective mass and manipulability and simplify the spatial collision between a human and a multi-DOF manipulator. Moreover, the experimental results from the biomechanical literature are employed for more realistic evaluation of collision safety. The design parameters and proper adjustment strategy can be established based on the safety evaluation results, and the design parameters of a manipulator can be modified to satisfy the collision safety and design requirement. The proposed guideline is implemented in the design of a 3 DOF safe manipulator, and it is shown that this guideline can be used to design a multi-DOF safe manipulator.
AB - In recent years, collision safety between a human and a robot has been increasingly important along with the spread of service robots. Much research has been conducted on how to design a safe manipulator, but it is not applicable to real manipulators yet. To deal with this problem, we propose a guideline to design a safe manipulator, which is composed of two phases, the safety evaluation and design parameter adjustment. To evaluate collision safety, we adopt the effective mass and manipulability and simplify the spatial collision between a human and a multi-DOF manipulator. Moreover, the experimental results from the biomechanical literature are employed for more realistic evaluation of collision safety. The design parameters and proper adjustment strategy can be established based on the safety evaluation results, and the design parameters of a manipulator can be modified to satisfy the collision safety and design requirement. The proposed guideline is implemented in the design of a 3 DOF safe manipulator, and it is shown that this guideline can be used to design a multi-DOF safe manipulator.
UR - http://www.scopus.com/inward/record.url?scp=84864483250&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6224867
DO - 10.1109/ICRA.2012.6224867
M3 - Conference contribution
AN - SCOPUS:84864483250
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2685
EP - 2690
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -