Computation of Safe Path Velocity for Collaborative Robots

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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.

Original languageEnglish
Title of host publicationProceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Publication date27. Dec 2018
Pages6142-6148
ISBN (Print)978-1-5386-8095-7
ISBN (Electronic)978-1-5386-8094-0, 978-1-5386-8093-3
DOIs
Publication statusPublished - 27. Dec 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems : Towards a Robotic Society - Madrid Municipal Conference Centre (MMCC), Madrid, Spain
Duration: 1. Oct 20185. Oct 2018
https://www.iros2018.org/

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
LocationMadrid Municipal Conference Centre (MMCC)
Country/TerritorySpain
CityMadrid
Period01/10/201805/10/2018
Internet address

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