人間が眼部とロボットとの衝突を避けるための回避特性を考慮した初期分離距離に関する研究

抄録

Safety of human-robot collaborative operation is strongly demanded in the industrial field of manufacturing robots. In the study, we discuss the collaborative operation condition of a fixed type manipulation taking human characteristics of avoiding the end effector which is approaching his/her eye. Risk assessment shall be done in consideration of more close human-robot safety space management. In the study, more concretely we focus on the maximum speed of the manipulator and the initial distance between it and a human eyeball. Relationships between the maximum speed and separation distance by using data obtained from psychological experiments where 3 patterns are set as the initial distance. We further discussed the extension of the relationships to reach the maximum motion area of the robot where the human avoidance reaction time becomes infinity.