AI and Digital Twin Federation-Based Flexible Safety Control for Human–Robot Collaborative Work Cell

Abstract

This paper proposes a safety response technology that leverages multi-domain vision sensors to monitor the positions of workers and robots in real-time. The technology calculates flexible protective separation distances (FPSD), which facilitate dynamic control of robot velocity and enable safety stops. Compliant with the ISO/TS 15066 technical specifications for speed and separation monitoring, this method not only satisfies stringent safety standards but also promotes a more adaptable working environment and improves productivity. The proposed method has been analyzed and validated using data acquired from multi-domain sensors within the collaborative workspace of worker-robot collaboration tasks, and its operation has been confirmed at variable worker and robot velocities through experimental scenarios.