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 publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2685-2690
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012 Jan 1
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

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

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    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 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 2685-2690). [6224867] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224867