Simulation of human-robot collaboration by means of power and force limiting

摘要

In this paper, we show the importance of digital factory tools for the planning of human-robot collaboration (HRC), the associated risk assessment and the safety certification of the entire HRC-application. Referring to the structure of this paper, first we define the requirements of the simulation of human-robot collaboration by means of power and force limiting by inherent design or control. Then we review the state-of-the-art of domain of robotic simulation. We demonstrate how to determine the force and pressure in case of a direct collision between human and robot for industrial safety certification. With the help of a detailed parameter study, we reduce the needed parameters for the simulation of HRC to the relevant factors. Finally, the paper shows how to use the approach of simulation to reduce the time and costs for the implementation of real HRC-scenarios into the factory of tomorrow.