Improving Safety in Collaborative Robot Tasks
| Autor: | Santonu Sarkar, Divyasheel Sharma, Raoul Jetley, Mohak Sukhwani, Avijit Mandal |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering Robot controller 02 engineering and technology Workspace Formalism (philosophy of mathematics) 020901 industrial engineering & automation Human–computer interaction Obstacle 0202 electrical engineering electronic engineering information engineering Code (cryptography) Robot Subjective logic |
| Zdroj: | INDIN |
| DOI: | 10.1109/indin41052.2019.8972103 |
| Popis: | In recent times, there has been significant interest in collaborative robots where the tasks performed by a robot are non-repetitive and complex, and humans and robots share an overlapping workspace. In such a case, the robot controller must necessarily be safety-aware. In this paper, we propose a mechanism to evaluate a robot program and compute a safety score for each action that the robot is about to perform. To this end, we have implemented a code analyzer that examines the robot’s Move instructions and assigns a safety score. A subjective logic based approach is used to compute the safety score for each instruction. We have evaluated the approach through ABB’s RobotStudio® simulator. We simulate two scenarios: First, where two robots share a workspace and second, where a robot moves along a path with an obstacle. The simulations show that using our code analyzer and safety score formalism; it is possible to evaluate the application code for safety and enable avoidance of potentially unsafe behavior. |
| Databáze: | OpenAIRE |
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