ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 3A1-I05
会議情報
3A1-I05 暴走時の自己診断機能による制動運動を仮定したロボットエンドエフェクタと眼球の衝突確率の見積もり(安全・安心なRT構築を目指して)
西山 智也山田 陽滋服部 貴政岡本 正吾原 進
著者情報
会議録・要旨集 フリー

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抄録
Reasonable risk estimation is indispensable for building a safe human-robot coexistence system. Risks are estimated from the severity of harm and the probability of occurrence of harm in which we focus on the latter. Taking into consideration the possibility of avoiding or limiting harm, we propose a new method for estimating the collision probability between an end-effector tip and an eyeball when the robot goes out of control. With a self-diagnosis function, the robot makes the braking motion and comes to a complete stop. The method basically computes the intersection between the two volumes of the manipulability ellipsoid constructed through motions of the end-effector tip and a human eye.
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© 2014 一般社団法人 日本機械学会
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