Guideline for determination of link mass of a robot arm for collision safety

Sang Duck Lee, Jae Bok Song

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

3 Citations (Scopus)

Abstract

In recent years the collision safety between a human and a robot has been increasingly important because of the spread of service robots. In order to design a safe robot arm, the collision safety evaluation must be conducted prior to the construction of the robot arm to compute the necessary design parameters. Previous evaluation methods required the use of the actual robot, which are both time consuming and expensive. In this study we propose a new human-robot collision model and a collision safety evaluation method which does not require the use of the actual robot. A human-robot collision model is developed, and the collision safety of a 3 DOF planar robot arm is evaluated. Then, using the evaluation results, the design of the robot arm is modified to ensure the collision safety. The proposed evaluation method enables the appropriate design parameters for a safe robot arm to be determined in a short period of time at the minimal cost.

Original languageEnglish
Title of host publicationURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
Pages383-385
Number of pages3
DOIs
Publication statusPublished - 2011
Event2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 - Incheon, Korea, Republic of
Duration: 2011 Nov 232011 Nov 26

Publication series

NameURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence

Other

Other2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
CountryKorea, Republic of
CityIncheon
Period11/11/2311/11/26

Keywords

  • Collision safety
  • Effective mass
  • Manipulability polytope
  • Manipulator design

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications

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  • Cite this

    Lee, S. D., & Song, J. B. (2011). Guideline for determination of link mass of a robot arm for collision safety. In URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (pp. 383-385). [6145847] (URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence). https://doi.org/10.1109/URAI.2011.6145847