Guideline for determination of link length of a 3 DOF planar manipulator for human-robot collision safety

Sang Duck Lee, Byeong Sang Kim, Jae-Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2685-2690
Number of pages6
DOIs
Publication statusPublished - 2012 Aug 6

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Manipulators
Robots

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Lee, S. D., Kim, B. S., & Song, J-B. (2012). Guideline for determination of link length of a 3 DOF planar manipulator for human-robot collision safety. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2685-2690). [6224867] https://doi.org/10.1109/ICRA.2012.6224867

Guideline for determination of link length of a 3 DOF planar manipulator for human-robot collision safety. / Lee, Sang Duck; Kim, Byeong Sang; Song, Jae-Bok.

Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 2685-2690 6224867.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lee, SD, Kim, BS & Song, J-B 2012, Guideline for determination of link length of a 3 DOF planar manipulator for human-robot collision safety. in Proceedings - IEEE International Conference on Robotics and Automation., 6224867, pp. 2685-2690. https://doi.org/10.1109/ICRA.2012.6224867
Lee SD, Kim BS, Song J-B. Guideline for determination of link length of a 3 DOF planar manipulator for human-robot collision safety. In Proceedings - IEEE International Conference on Robotics and Automation. 2012. p. 2685-2690. 6224867 https://doi.org/10.1109/ICRA.2012.6224867
Lee, Sang Duck ; Kim, Byeong Sang ; Song, Jae-Bok. / Guideline for determination of link length of a 3 DOF planar manipulator for human-robot collision safety. Proceedings - IEEE International Conference on Robotics and Automation. 2012. pp. 2685-2690
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