Extended Calculation of the Dynamic Separation Distance for Robot Speed Adaption in the Human-Robot Interaction

摘要

Speed and separation monitoring (SSM) is one of the four permitted collaborative operations in human-robot interaction (HRI). Current standards and guidelines provide users and system integrators with a simple basis to calculate permissible separation distances between human workers and robots. However, high impact factors due to various simplifications result in oversized safety zones, which in practice often leads to difficulties in layout and process design. The very large safety zones that have been required so far are one of the existing obstacles to the implementation of HRI applications, especially in SSM. This paper describes extension approaches to determine the dynamic separation distance more precisely and to calculate the adapted robot speed. The developed methods are integrated into an existing HRI simulation tool based on the Robot Operating System (ROS) and finally analyzed. Taking into account the normative conditions, the implemented methods enable users and system integrators to simulate, analyze and optimize HRI scenarios already in the planning phase.