潜在暴走空間の改良と最小包囲楕円体計算アルゴリズムの導入

抄録

Nowadays, human-robot-collaboration (HRC) gains high interests among researchers. And considered to be introduced in the field of manufacturing. In such a system, new risks which have not been considered may will be estimated. One of them is that the robot and the worker may collide with each other. And to avoid collisions, definition of separation distance between the robot and the worker is needed. According to ISO10218-1, it is said that the safety of the worker needs to be maintained even in the case of a single fault of the safety system. So, when the separation distance is defined, a single fault should be considered. Let’s consider a single fault of robot. As the method to quantify running away, potential runaway motion in task space (PRAM-t) was proposed. In PRAM-t, dynamic manipulability ellipsoid is used to calculate acceleration when robot runs away. However, when we consider running away originating to single fault, it could be exaggeration. So, I propose new method to compute acceleration during the running away of robot using an algorithm of computation of minimum volume enclosing ellipsoids. And I compare my method and DME by case study.