Computation of Safe Path Velocity for Collaborative Robots

Christoffer Sloth; Henrik Gordon Petersen

doi:10.1109/IROS.2018.8594217

Computation of Safe Path Velocity for Collaborative Robots

Christoffer Sloth, Henrik Gordon Petersen

Publikation: Kapitel i bog/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review

Abstract

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.

Originalsprog	Engelsk
Titel	Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Forlag	IEEE
Publikationsdato	27. dec. 2018
Sider	6142-6148
ISBN (Trykt)	978-1-5386-8095-7
ISBN (Elektronisk)	978-1-5386-8094-0, 978-1-5386-8093-3
DOI	https://doi.org/10.1109/IROS.2018.8594217
Status	Udgivet - 27. dec. 2018
Begivenhed	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems : Towards a Robotic Society - Madrid Municipal Conference Centre (MMCC), Madrid, Spanien Varighed: 1. okt. 2018 → 5. okt. 2018 https://www.iros2018.org/

Konference

Konference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Lokation	Madrid Municipal Conference Centre (MMCC)
Land/Område	Spanien
By	Madrid
Periode	01/10/2018 → 05/10/2018
Internetadresse	https://www.iros2018.org/

Dokumenter og links

10.1109/IROS.2018.8594217

Citationsformater

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title = "Computation of Safe Path Velocity for Collaborative Robots",

abstract = "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.",

author = "Christoffer Sloth and Petersen, {Henrik Gordon}",

year = "2018",

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doi = "10.1109/IROS.2018.8594217",

language = "English",

isbn = "978-1-5386-8095-7",

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booktitle = "Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

address = "United States",

note = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems : Towards a Robotic Society, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

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AB - 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.

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DO - 10.1109/IROS.2018.8594217

M3 - Article in proceedings

SN - 978-1-5386-8095-7

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EP - 6148

BT - Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 1 October 2018 through 5 October 2018

ER -

Computation of Safe Path Velocity for Collaborative Robots

Abstract

Konference

Dokumenter og links

Fingeraftryk

Citationsformater