Computation of Safe Path Velocity for Collaborative Robots

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Abstrakt

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.

OriginalsprogEngelsk
TitelProceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
ForlagIEEE
Publikationsdato27. dec. 2018
Sider6142-6148
ISBN (Trykt)978-1-5386-8095-7
ISBN (Elektronisk)978-1-5386-8094-0, 978-1-5386-8093-3
DOI
StatusUdgivet - 27. dec. 2018
Begivenhed2018 IEEE/RSJ International Conference on Intelligent Robots and Systems : Towards a Robotic Society - Madrid Municipal Conference Centre (MMCC), Madrid, Spanien
Varighed: 1. okt. 20185. okt. 2018
https://www.iros2018.org/

Konference

Konference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
LokationMadrid Municipal Conference Centre (MMCC)
Land/OmrådeSpanien
ByMadrid
Periode01/10/201805/10/2018
Internetadresse

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