抄録
Safety in human-robot coexistence systems are needed while being intensively discussed in the industrial manufacturing robots. In the future , however it will riot be practically applicable to monitor in every foreseeable situation the human-robot interaction for securing safety by use of safety-related vision-based protective equipments. Risk assessment shall be done in consideration of more close human-robot safety space management. In the study, we apply the concept of manipulability ellipsoid to that for an emergency stop to analytically the collision probability between a robot endeffector and a human eye taking avoidance actions of both human and robot actions into account.
