1989 Volume 32 Issue 1 Pages 67-74
As robotics consists of overall engineering systems, it is necessary for the improvement of robot safety that a systematic plan be executed. The examination and designing of safety measures is an important stage of the safety plan. It is essential to establish a systematic methodology for planning and designing safety measures for the effective practice of this stage in individual systems. first, the hazard-restraint process is generalized as four hazard-restraint principles, based on the A-C model hazard-production theory. Next, the architectonics of the final defense line of the hazard-restraint process is established in terms of a dissociation of action linkage by a hazard-control system. Last, the architecture of the hazard-control systems is demonstrated by examples for systems involving a robot following its course, rescue robot, or surgery robot, and the applicability of safety confirmation sensors or controllers is defined clearly.